BE@R lab / Mbed 2 deprecated MPU9250AHRS-PGear_Stabilizer

Stabilizer

Dependencies:   BEAR_Protocol mbed Stabilizer iSerial

Fork of MPU9250AHRS by BE@R lab

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;