bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Controls/Kinematics.h@16:5b19be27f08a, 2015-12-10 (annotated)
- Committer:
- amandaghassaei
- Date:
- Thu Dec 10 10:55:35 2015 +0000
- Revision:
- 16:5b19be27f08a
- Parent:
- 11:711d3c207e8c
targeting code added;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
amandaghassaei | 8:1a3a69fecedf | 1 | #ifndef Kinematics_h |
amandaghassaei | 8:1a3a69fecedf | 2 | #define Kinematics_h |
amandaghassaei | 8:1a3a69fecedf | 3 | |
amandaghassaei | 8:1a3a69fecedf | 4 | |
amandaghassaei | 10:769cc457c3a4 | 5 | void getMassMatrix(float A[2][2], volatile float z[4], float p[10]); |
amandaghassaei | 10:769cc457c3a4 | 6 | float getEnergy(volatile float z[4], float p[10]); |
amandaghassaei | 11:711d3c207e8c | 7 | void getGravity(float output[2], volatile float z[4], float p[10]); |
amandaghassaei | 11:711d3c207e8c | 8 | void getCoriolisCentrip(float output[2], volatile float z[4], float p[10]); |
amandaghassaei | 11:711d3c207e8c | 9 | void getGripperPosition(float position[2], volatile float z[4], float p[10]); |
amandaghassaei | 11:711d3c207e8c | 10 | void getGripperVelocity(float velocity[2], volatile float z[4], float p[10]); |
amandaghassaei | 16:5b19be27f08a | 11 | void getGripperJacobianTranspose(float Jtrans[2][2], volatile float z[4], float p[10]); |
amandaghassaei | 16:5b19be27f08a | 12 | float boundTheta(float theta); |
amandaghassaei | 16:5b19be27f08a | 13 | int fix(float val);//round toward zero |
amandaghassaei | 8:1a3a69fecedf | 14 | |
amandaghassaei | 8:1a3a69fecedf | 15 | |
amandaghassaei | 8:1a3a69fecedf | 16 | #endif |