Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

include/dynamics.hpp

Committer:
calamaridudeman
Date:
2013-11-24
Revision:
28:21773a6fb6df
Parent:
26:53b793b7a82f
Child:
29:33c5c61f1068
Child:
35:a4e89e78d034

File content as of revision 28:21773a6fb6df:

#include "mbed.h"

#include "QEI.h"
#include "include/motor.hpp"

#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(Motor &M1, Motor &M2, QEI &e1, QEI &e2);
        void zero();
        void start();
        void run();
        void stop();
        void updatePose();
        void testEncoders(Serial &pc);
        
    private:
        QEI enc1;
        QEI enc2;
        Motor m1;
        Motor m2;
};

#endif