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

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Show/hide line numbers Kinematics.h Source File

Kinematics.h

00001 #ifndef Kinematics_h
00002 #define Kinematics_h
00003 
00004     
00005 void getMassMatrix(float A[2][2], volatile float z[4], float p[10]);
00006 float getEnergy(volatile float z[4], float p[10]);
00007 void getGravity(float output[2], volatile float z[4], float p[10]);
00008 void getCoriolisCentrip(float output[2], volatile float z[4], float p[10]);
00009 void getGripperPosition(float position[2], volatile float z[4], float p[10]);
00010 void getGripperVelocity(float velocity[2], volatile float z[4], float p[10]);
00011 void getGripperJacobianTranspose(float Jtrans[2][2], volatile float z[4], float p[10]);
00012 float boundTheta(float theta);
00013 int fix(float val);//round toward zero
00014 
00015 
00016 #endif
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