InverseLeg
Dependents: SwitchMode Stabilizer SwitchMode
Diff: Kinematic.h
- Revision:
- 3:fd037c89ba5f
- Parent:
- 2:c9c38629be85
- Child:
- 4:d3bb9ead2a55
diff -r c9c38629be85 -r fd037c89ba5f Kinematic.h --- a/Kinematic.h Tue Dec 22 18:01:37 2015 +0000 +++ b/Kinematic.h Wed Dec 23 00:32:09 2015 +0000 @@ -1,4 +1,5 @@ #include "mbed.h" +static Serial test(SERIAL_TX,SERIAL_RX); class Kinematic { private: @@ -8,6 +9,12 @@ float Zeta_Knee; //degree float Position_Y; //centimeter float Position_Z; //centimeter + float offset_y; + float offset_z; + float zeta_knee_range_max; + float zeta_knee_range_min; + float zeta_hip_range_max; + float zeta_hip_range_min; public: Kinematic(float, float); Kinematic(char, float, float, float, float); @@ -29,6 +36,12 @@ float get_Position_Z() { return Position_Z; } + float get_offset_y() { + return offset_y; + } + float get_offset_z() { + return offset_z; + } void set_Link_Hip(float); void set_Link_Knee(float); @@ -36,7 +49,13 @@ void set_Zeta_Knee(float); void set_Position_Y(float); void set_Position_Z(float); + void set_zeta_knee_range(float,float); + void set_zeta_hip_range(float,float); + void set_offset_YZ(float,float); + void SumPositionWithOffset(); void ForwardKinematicCalculation(); void InverseKinematicCalculation(); + + void print(); }; \ No newline at end of file