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/Dynamics.h

Committer:
amandaghassaei
Date:
2015-12-09
Revision:
13:64d337c5114e
Parent:
12:49813131dd15
Child:
15:d88f10b3b5f8

File content as of revision 13:64d337c5114e:

#ifndef Dynamics_h
#define Dynamics_h


#include "Kinematics.h"
#include "Gains.h"
#include "Target.h"


float calcTau(volatile float z[4], float p[10], Gains *gains, Target *target, Serial *pc);
float thetaDesiredForSwingUp(float rangeMin, float rangeMax, volatile float z[4]);
float thetaDesiredForTargeting(volatile float z[4]);
int fix(float val);//round toward zero





#endif