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main.cpp
00001 #include "mbed.h" 00002 #include "Ro/Robot.h" 00003 #include "Ro/Vector.h" 00004 #include "QEI/QEI.h" 00005 #include "Ro/Sensor.h" 00006 extern float dyn_mat [4][10]; 00007 extern float ToolMatrix[4][4]; 00008 extern float BaseMatrix[4][4]; 00009 extern const float DH_Table[DOF*4]; 00010 00011 00012 int main() { 00013 Sensor a(PA_0, PA_2,10.5F, 1,20, 30); 00014 int b=a.readSensor(); 00015 float q[4]={-1.6834F,1.4479F,0.8639F,0}; 00016 struct Robot R; 00017 init(&R,ToolMatrix,BaseMatrix); 00018 EulerNewton(&R,q,q,q); 00019 Jacobian(&R,q); 00020 return 0; 00021 } 00022 00023 00024 00025 /*int main() 00026 { 00027 00028 00029 00030 00031 00032 }*/
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