Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

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Show/hide line numbers Dynamics.h Source File

Dynamics.h

00001 #ifndef Dynamics_h
00002 #define Dynamics_h
00003 
00004 
00005 #include "Kinematics.h"
00006 #include "Gains.h"
00007 #include "Target.h"
00008 
00009 
00010 float calcTau(volatile float z[4], float p[10], Gains *gains, Target *target, Serial *pc);
00011 float thetaDesiredForSwingUp(float rangeMin, float rangeMax, volatile float z[4]);
00012 float obstacleAvoidance(volatile float z[4], float p[10], float theta);
00013 float overallGainForSwingUp(volatile float z[4], float th2Des, Gains *gains);
00014 
00015 
00016 #endif
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