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

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