Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

include/dynamics.hpp

Committer:
calamaridudeman
Date:
2013-11-19
Revision:
25:8a34b8d6cc6e
Parent:
23:112c0be5a7f3
Child:
26:53b793b7a82f

File content as of revision 25:8a34b8d6cc6e:

#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();
        
    private:
        QEI enc1;
        QEI enc2;
};

#endif