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bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Controls/Dynamics.h
- Revision:
- 10:769cc457c3a4
- Parent:
- 9:1d9b24d7ac77
- Child:
- 12:49813131dd15
--- a/Controls/Dynamics.h Sat Dec 05 00:40:42 2015 +0000 +++ b/Controls/Dynamics.h Sat Dec 05 09:04:23 2015 +0000 @@ -6,7 +6,7 @@ #include "Gains.h" -float calcTau(float z[4], float p[10], Gains *gains, Serial *pc); +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); int fix(float val);//round toward zero int signNonZero(float val);