Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

include/dynamics.hpp@29:33c5c61f1068, 2013-11-24 (annotated)

Committer:
calamaridudeman
Date:
Sun Nov 24 19:21:47 2013 +0000
Revision:
29:33c5c61f1068
Parent:
28:21773a6fb6df
Child:
30:18724a8fb2bf
Added & everywhere (including fields!) to ensure no copying of encoders (which breaks the interrupts).  All motor encoders reporting properly now

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 22:4d85d989af08 1 #include "mbed.h"
calamaridudeman 22:4d85d989af08 2
calamaridudeman 26:53b793b7a82f 3 #include "QEI.h"
calamaridudeman 26:53b793b7a82f 4 #include "include/motor.hpp"
calamaridudeman 26:53b793b7a82f 5
calamaridudeman 22:4d85d989af08 6 #ifndef DYNAMICS_HPP
calamaridudeman 22:4d85d989af08 7 #define DYNAMICS_HPP
calamaridudeman 22:4d85d989af08 8
calamaridudeman 22:4d85d989af08 9 #define l1 1 //gantry point to hip joint
calamaridudeman 22:4d85d989af08 10 #define l2 1 //hip length
calamaridudeman 22:4d85d989af08 11 #define l3 1 //leg length
calamaridudeman 22:4d85d989af08 12 #define l4 1 //foot length
calamaridudeman 16:c21df8c0c458 13
calamaridudeman 22:4d85d989af08 14 class Kangaroo {
calamaridudeman 22:4d85d989af08 15
calamaridudeman 22:4d85d989af08 16 public:
calamaridudeman 28:21773a6fb6df 17 Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2);
calamaridudeman 22:4d85d989af08 18 void zero();
calamaridudeman 22:4d85d989af08 19 void start();
calamaridudeman 22:4d85d989af08 20 void run();
calamaridudeman 22:4d85d989af08 21 void stop();
calamaridudeman 22:4d85d989af08 22 void updatePose();
calamaridudeman 28:21773a6fb6df 23 void testEncoders(Serial &pc);
calamaridudeman 25:8a34b8d6cc6e 24
calamaridudeman 25:8a34b8d6cc6e 25 private:
calamaridudeman 29:33c5c61f1068 26 QEI& enc1;
calamaridudeman 29:33c5c61f1068 27 QEI& enc2;
calamaridudeman 29:33c5c61f1068 28 Motor& m1;
calamaridudeman 29:33c5c61f1068 29 Motor& m2;
calamaridudeman 22:4d85d989af08 30 };
calamaridudeman 22:4d85d989af08 31
calamaridudeman 22:4d85d989af08 32 #endif