bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Controls/Kinematics.h
- Revision:
- 16:5b19be27f08a
- Parent:
- 11:711d3c207e8c
--- a/Controls/Kinematics.h Thu Dec 10 09:46:56 2015 +0000 +++ b/Controls/Kinematics.h Thu Dec 10 10:55:35 2015 +0000 @@ -8,6 +8,9 @@ void getCoriolisCentrip(float output[2], volatile float z[4], float p[10]); void getGripperPosition(float position[2], volatile float z[4], float p[10]); void getGripperVelocity(float velocity[2], volatile float z[4], float p[10]); +void getGripperJacobianTranspose(float Jtrans[2][2], volatile float z[4], float p[10]); +float boundTheta(float theta); +int fix(float val);//round toward zero #endif \ No newline at end of file