Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

include/dynamics.hpp@25:8a34b8d6cc6e, 2013-11-19 (annotated)

Committer:
calamaridudeman
Date:
Tue Nov 19 20:42:01 2013 +0000
Revision:
25:8a34b8d6cc6e
Parent:
23:112c0be5a7f3
Child:
26:53b793b7a82f
modified master to start integrating motors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 22:4d85d989af08 1 #include "mbed.h"
calamaridudeman 22:4d85d989af08 2
calamaridudeman 22:4d85d989af08 3 #ifndef DYNAMICS_HPP
calamaridudeman 22:4d85d989af08 4 #define DYNAMICS_HPP
calamaridudeman 22:4d85d989af08 5
calamaridudeman 22:4d85d989af08 6 #define l1 1 //gantry point to hip joint
calamaridudeman 22:4d85d989af08 7 #define l2 1 //hip length
calamaridudeman 22:4d85d989af08 8 #define l3 1 //leg length
calamaridudeman 22:4d85d989af08 9 #define l4 1 //foot length
calamaridudeman 16:c21df8c0c458 10
calamaridudeman 22:4d85d989af08 11 class Kangaroo {
calamaridudeman 22:4d85d989af08 12
calamaridudeman 22:4d85d989af08 13 public:
calamaridudeman 22:4d85d989af08 14 Kangaroo();
calamaridudeman 22:4d85d989af08 15 void zero();
calamaridudeman 22:4d85d989af08 16 void start();
calamaridudeman 22:4d85d989af08 17 void run();
calamaridudeman 22:4d85d989af08 18 void stop();
calamaridudeman 22:4d85d989af08 19 void updatePose();
calamaridudeman 25:8a34b8d6cc6e 20
calamaridudeman 25:8a34b8d6cc6e 21 private:
calamaridudeman 25:8a34b8d6cc6e 22 QEI enc1;
calamaridudeman 25:8a34b8d6cc6e 23 QEI enc2;
calamaridudeman 22:4d85d989af08 24 };
calamaridudeman 22:4d85d989af08 25
calamaridudeman 22:4d85d989af08 26 #endif