Carlo Collodi / kangaroo

Dependencies:   QEI mbed

Revision:
45:0db0fc9f77b1
Parent:
43:68faf056ed5c
Child:
46:4497e945de6b
--- a/include/dynamics.hpp	Wed Nov 27 02:51:39 2013 +0000
+++ b/include/dynamics.hpp	Sun Dec 01 07:23:22 2013 +0000
@@ -9,9 +9,9 @@
 #define l2 0.06 //hip length
 #define l3 0.1 //leg length
 #define l4 0.06 //foot length
-#define lg 0.286 //gantry length
-#define h 0.242 //fixed support height
-
+#define lg 0.34 //gantry length
+#define h 0.29 //fixed support height
+#define pi 3.1415 //PI
 Joints invKinBody(Point &in);
 Point kinGantry(Joints theta);