Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

include/dynamics.hpp@26:53b793b7a82f, 2013-11-24 (annotated)

Committer:
calamaridudeman
Date:
Sun Nov 24 06:00:21 2013 +0000
Revision:
26:53b793b7a82f
Parent:
25:8a34b8d6cc6e
Child:
28:21773a6fb6df
ready to test sensors and code up to motors and sensors.  Still need path planning and higher-level control

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 26:53b793b7a82f 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 26:53b793b7a82f 23 void testEncoders(Serial pc);
calamaridudeman 25:8a34b8d6cc6e 24
calamaridudeman 25:8a34b8d6cc6e 25 private:
calamaridudeman 25:8a34b8d6cc6e 26 QEI enc1;
calamaridudeman 25:8a34b8d6cc6e 27 QEI enc2;
calamaridudeman 26:53b793b7a82f 28 Motor m1;
calamaridudeman 26:53b793b7a82f 29 Motor m2;
calamaridudeman 22:4d85d989af08 30 };
calamaridudeman 22:4d85d989af08 31
calamaridudeman 22:4d85d989af08 32 #endif