Bradley Perry / Brad_poly_gait

This is the quartic polynomial gait.

Dependents:   Motion-Control

Diff: Brad_poly_gait.h

Revision:
4:f96bcc712a13
Parent:
3:ed0f6f302a0a
--- a/Brad_poly_gait.h	Mon Jun 29 17:22:57 2015 +0000
+++ b/Brad_poly_gait.h	Mon Jun 29 17:25:21 2015 +0000
@@ -2,7 +2,6 @@
 #define BRADGAIT_H
 #include "gait_generator.h"
 #include "blend_generator.h"
-#include "mbed.h"
 
 //TODO: Add time_steps calculation in another file (App input should be a time in seconds)
 //TODO: Add peak_time calculation in another file (App input should be a fraction)
@@ -112,8 +111,6 @@
     /**Normalized time */
     float _tau;
 
-    /**Debugging*/
-    Serial pc;
 
 };
 
@@ -180,8 +177,6 @@
     /**Normalized time */
     float _tau;
 
-    /**Debugging*/
-    Serial pc;
 };
 
 /** A class that defines the first step swing trajectory per Michael McKinley's design.