bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Controls/Kinematics.h
- Committer:
- amandaghassaei
- Date:
- 2015-12-10
- Revision:
- 16:5b19be27f08a
- Parent:
- 11:711d3c207e8c
File content as of revision 16:5b19be27f08a:
#ifndef Kinematics_h #define Kinematics_h void getMassMatrix(float A[2][2], volatile float z[4], float p[10]); float getEnergy(volatile float z[4], float p[10]); void getGravity(float output[2], volatile float z[4], float p[10]); 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