Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

include/dynamics.hpp

Committer:
alexc89
Date:
2013-12-01
Revision:
46:4497e945de6b
Parent:
45:0db0fc9f77b1
Child:
55:ff84fbdfd1d1

File content as of revision 46:4497e945de6b:

#include "mbed.h"

#include "include/geom.hpp"

#ifndef DYNAMICS_HPP
#define DYNAMICS_HPP

#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);



#endif