Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Diff: include/dynamics.hpp

Revision:
46:4497e945de6b
Parent:
45:0db0fc9f77b1
Child:
55:ff84fbdfd1d1
--- a/include/dynamics.hpp	Sun Dec 01 07:23:22 2013 +0000
+++ b/include/dynamics.hpp	Sun Dec 01 20:13:35 2013 +0000
@@ -5,12 +5,12 @@
 #ifndef DYNAMICS_HPP
 #define DYNAMICS_HPP
 
-#define l1 0.051 //gantry point to hip joint
-#define l2 0.06 //hip length
-#define l3 0.1 //leg length
-#define l4 0.06 //foot length
-#define lg 0.34 //gantry length
-#define h 0.29 //fixed support height
+#define l1 0.055 //gantry point to hip joint
+#define l2 0.061 //hip length
+#define l3 0.100 //leg length
+#define l4 0.068 //foot length
+#define lg 0.33 //gantry length
+#define h  0.310 //fixed support height
 #define pi 3.1415 //PI
 Joints invKinBody(Point &in);
 Point kinGantry(Joints theta);