Diff: Motion/OnlineMotion.h

Revision:

23:0927e605af4b

Parent:

22:bf5aa20b9df0

--- a/Motion/OnlineMotion.h	Fri Sep 06 08:36:21 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,37 +0,0 @@
-#ifndef ONLINEMOTION_H_2013_02_04_
-#define ONLINEMOTION_H_2013_02_04_
-
-#include <cmath>
-
-#include "LPC17xx.h"
-#include "mbed.h"
-#include "PWM.h"
-#include "Adafruit_PWMServoDriver.h"
-//#include "Motion.h"
-
-
-const float M_PI = 3.14159265;
-
-class OnlineMotion //: public Motion
-{
-  public:
-    OnlineMotion(float _T, float _TIMESTEP, unsigned char _size_num, Adafruit_PWMServoDriver* _pwm, bool* _playing);
-    ~OnlineMotion();
-  public:
-    void step();
-  private:
-    void update();
-    void play_online();
-    void invertkinematics(float* pos, uint16_t* theta);
-    void walk(float* lpos, float* rpos, float h, float stride, float side, float up);
-    
-  private:
-    Adafruit_PWMServoDriver* pwm;
-    //PWM* pwm;
-    unsigned char m_NUM_MAX;
-    bool* playing;
-    volatile float t;
-    float T ,STEP;
-};
-
-#endif
\ No newline at end of file