![](/media/cache/profiles/e5815151957be36ad2085b7a1a02c5cc.jpg.50x50_q85.jpg)
Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Motion/OnlineMotion.h
- Committer:
- syundo0730
- Date:
- 2013-09-06
- Revision:
- 22:bf5aa20b9df0
- Parent:
- 21:a54bcab078ed
File content as of revision 22:bf5aa20b9df0:
#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