Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Diff: dynamics.hpp

Revision:
22:4d85d989af08
Parent:
16:c21df8c0c458
--- a/dynamics.hpp	Tue Nov 19 16:34:49 2013 +0000
+++ b/dynamics.hpp	Tue Nov 19 17:01:38 2013 +0000
@@ -1,2 +1,22 @@
-#include "mbed.hpp"
+#include "mbed.h"
+
+#ifndef DYNAMICS_HPP
+#define DYNAMICS_HPP
+
+#define l1 1 //gantry point to hip joint
+#define l2 1 //hip length
+#define l3 1 //leg length
+#define l4 1 //foot length
 
+class Kangaroo {
+
+    public:
+        Kangaroo();
+        void zero();
+        void start();
+        void run();
+        void stop();
+        void updatePose();
+};
+
+#endif
\ No newline at end of file