bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Controls/Dynamics.h
- Revision:
- 13:64d337c5114e
- Parent:
- 12:49813131dd15
- Child:
- 15:d88f10b3b5f8
diff -r 49813131dd15 -r 64d337c5114e Controls/Dynamics.h --- 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);