Martin Smith / Mbed 2 deprecated ERIC_Walking_4_Legs

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Dependencies:   mbed AX12_Hardware

Diff: FK.h

Revision:
0:8a7c1e92d067
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FK.h	Sun Oct 16 16:01:08 2011 +0000
@@ -0,0 +1,49 @@
+#include "mbed.h"
+#include "AX12.h"
+
+#define B 45                // Offset dimension
+#define FEMUR 80            // Femur length
+#define TIBIA 140           // Tibia length
+#define ULNA 90             // Ulna length
+#define RADIUS 120          // Radius length
+#define X_OFFSET 25         // Distance from the X-axis -> servo centre
+#define PI 3.14159
+
+#define HIND 0
+#define FORE 1
+
+/********** Global structures **********/
+struct Joint_Angles {
+    float lateral;
+    float hip;
+    float knee;
+};
+
+/**************************************************************************
+Global variables
+**************************************************************************/
+extern AX12 Fore_Right_Hip_Lateral,
+            Fore_Right_Hip,
+            Fore_Right_Knee,
+            Fore_Left_Hip_Lateral,
+            Fore_Left_Hip,
+            Fore_Left_Knee,
+            Hind_Right_Hip_Lateral,
+            Hind_Right_Hip,
+            Hind_Right_Knee,
+            Hind_Left_Hip_Lateral,
+            Hind_Left_Hip,
+            Hind_Left_Knee;
+
+/********** Functions **********/
+void FK_Engine(float*);
+void Set_Pose(const int*, float);
+Joint_Angles IK_Engine(int, int, int, char);
+void Step_Forward(int);
+
+/************ Define Poses ************/
+extern const int Stand[];
+extern const int Sit1[];
+extern const int Sit2[];
+extern const int Sit3[];
+extern const int Sit4[];
\ No newline at end of file