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/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