Ben Katz / Mbed 2 deprecated Pendulum_demo

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Dependencies:   mbed Eigen

Diff: Dynamics/dynamics.h

Revision:
0:4dd2d995f7d0
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Dynamics/dynamics.h	Tue May 07 01:56:53 2019 +0000
@@ -0,0 +1,24 @@
+#ifndef DYNAMICS_H
+#define DYNAMICS_H
+
+#include "mbed.h"
+#include "../Eigen/Dense.h"
+#include "../structs.h"
+
+#define J0      .000115f
+#define L0      .043f
+#define B0      .00001f
+#define J1      .00000237f
+#define L1      .035f
+#define M1      .0054f
+#define B1      .00001f
+#define G       9.8f
+
+#define P_RES   4096    // Pendulum encoder resolution
+#define B_RES   4096   // Base encoder resolution
+
+#define PI      3.14159265359f
+
+void integrate_state(StateStruct * state, float torque, float dt);
+void update_sensors(StateStruct state, SensorStruct * sensors);
+#endif
\ No newline at end of file