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Dependencies:   mbed QEI

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Show/hide line numbers main.cpp Source File

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 }*/