Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

Fork of MPU6050_Example by Shundo Kishi

Diff: Controls/Dynamics.h

Revision:
12:49813131dd15
Parent:
10:769cc457c3a4
Child:
13:64d337c5114e
--- a/Controls/Dynamics.h	Tue Dec 08 22:52:46 2015 +0000
+++ b/Controls/Dynamics.h	Wed Dec 09 03:08:30 2015 +0000
@@ -4,10 +4,12 @@
 
 #include "Kinematics.h"
 #include "Gains.h"
+#include "Target.h"
 
 
-float calcTau(volatile float z[4], float p[10], Gains *gains, Serial *pc);
-float thetaDesired(float range, float th1, float th2, float dth1, float dth2);
+float calcTau(volatile float z[4], float p[10], Gains *gains, Target *target, Serial *pc);
+float thetaDesired(float range, volatile float z[4]);
+float thetaDesiredForTargeting(volatile float z[4]);
 int fix(float val);//round toward zero
 int signNonZero(float val);