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:
13:64d337c5114e
Parent:
12:49813131dd15
Child:
15:d88f10b3b5f8
--- a/Controls/Dynamics.h	Wed Dec 09 03:08:30 2015 +0000
+++ b/Controls/Dynamics.h	Wed Dec 09 03:25:22 2015 +0000
@@ -8,10 +8,9 @@
 
 
 float calcTau(volatile float z[4], float p[10], Gains *gains, Target *target, Serial *pc);
-float thetaDesired(float range, volatile float z[4]);
+float thetaDesiredForSwingUp(float rangeMin, float rangeMax, volatile float z[4]);
 float thetaDesiredForTargeting(volatile float z[4]);
 int fix(float val);//round toward zero
-int signNonZero(float val);