Carlo Collodi
/
kangaroo
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include/dynamics.hpp@43:68faf056ed5c, 2013-11-26 (annotated)
- Committer:
- calamaridudeman
- Date:
- Tue Nov 26 21:26:44 2013 +0000
- Revision:
- 43:68faf056ed5c
- Parent:
- 39:b765b6dd01c3
- Child:
- 45:0db0fc9f77b1
trying to get setTorque to work
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| calamaridudeman | 22:4d85d989af08 | 1 | #include "mbed.h" |
| calamaridudeman | 22:4d85d989af08 | 2 | |
| calamaridudeman | 37:bf257a0154db | 3 | #include "include/geom.hpp" |
| calamaridudeman | 37:bf257a0154db | 4 | |
| calamaridudeman | 22:4d85d989af08 | 5 | #ifndef DYNAMICS_HPP |
| calamaridudeman | 22:4d85d989af08 | 6 | #define DYNAMICS_HPP |
| calamaridudeman | 22:4d85d989af08 | 7 | |
| sherryxy | 39:b765b6dd01c3 | 8 | #define l1 0.051 //gantry point to hip joint |
| sherryxy | 39:b765b6dd01c3 | 9 | #define l2 0.06 //hip length |
| sherryxy | 39:b765b6dd01c3 | 10 | #define l3 0.1 //leg length |
| sherryxy | 39:b765b6dd01c3 | 11 | #define l4 0.06 //foot length |
| sherryxy | 39:b765b6dd01c3 | 12 | #define lg 0.286 //gantry length |
| sherryxy | 39:b765b6dd01c3 | 13 | #define h 0.242 //fixed support height |
| calamaridudeman | 22:4d85d989af08 | 14 | |
| calamaridudeman | 37:bf257a0154db | 15 | Joints invKinBody(Point &in); |
| calamaridudeman | 43:68faf056ed5c | 16 | Point kinGantry(Joints theta); |
| calamaridudeman | 37:bf257a0154db | 17 | |
| calamaridudeman | 37:bf257a0154db | 18 | |
| calamaridudeman | 22:4d85d989af08 | 19 | |
| calamaridudeman | 22:4d85d989af08 | 20 | #endif |
