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Stabilizer
Dependencies: BEAR_Protocol mbed Stabilizer iSerial
Fork of MPU9250AHRS by
Diff: main.cpp
- Revision:
- 18:02559b51ec08
- Parent:
- 17:51ac4252fa1a
- Child:
- 19:5b8d16378d66
--- a/main.cpp Sat Jan 23 04:10:16 2016 +0000 +++ b/main.cpp Sat Jan 23 17:08:25 2016 +0000 @@ -1,7 +1,13 @@ + #include "Stabilizer.h" #include "Kinematic.h" #include "MPU9250.h" +#include "BEAR_Protocol.h" + +#define LEFT_SIDE 0x01 +#define RIGHT_SIDE 0x02 + float sum = 0; uint32_t sumCount = 0; char buffer[14]; @@ -473,7 +479,7 @@ R.set_Zeta_Knee(RKneeAngle); L.ForwardKinematicCalculation(); - T.ForwardKinematicCalculation(); + R.ForwardKinematicCalculation(); float offset_Y,offset_Z; float y1,y2,z1,z2;