Ted Parrott / Mbed 2 deprecated InverseKinematics2

NA

Dependencies:   AX12 mbed

Fork of InverseKinematics2 by Martin Smith

ServoAngles.h@0:fdc9474c08b9, 2011-01-28 (annotated)

Committer:
ms523
Date:
Fri Jan 28 19:45:20 2011 +0000
Revision:
0:fdc9474c08b9
First test of a robotic leg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ms523 0:fdc9474c08b9 1 #include "mbed.h"
ms523 0:fdc9474c08b9 2 #include "AX12.h"
ms523 0:fdc9474c08b9 3
ms523 0:fdc9474c08b9 4 /**************************************************************************
ms523 0:fdc9474c08b9 5 Global Defines
ms523 0:fdc9474c08b9 6 **************************************************************************/
ms523 0:fdc9474c08b9 7 #define FEMUR 100 //Femer length
ms523 0:fdc9474c08b9 8 #define TIBIA 140 //Tibia length
ms523 0:fdc9474c08b9 9 #define PI 3.1415926
ms523 0:fdc9474c08b9 10
ms523 0:fdc9474c08b9 11 /**************************************************************************
ms523 0:fdc9474c08b9 12 Global structures
ms523 0:fdc9474c08b9 13 **************************************************************************/
ms523 0:fdc9474c08b9 14 struct LegAngles {
ms523 0:fdc9474c08b9 15 float Hip;
ms523 0:fdc9474c08b9 16 float Knee;
ms523 0:fdc9474c08b9 17 };
ms523 0:fdc9474c08b9 18
ms523 0:fdc9474c08b9 19 /**************************************************************************
ms523 0:fdc9474c08b9 20 Function Declarations
ms523 0:fdc9474c08b9 21 **************************************************************************/
ms523 0:fdc9474c08b9 22 LegAngles GetAngles(int X, int Y);
ms523 0:fdc9474c08b9 23
ms523 0:fdc9474c08b9 24 /**************************************************************************
ms523 0:fdc9474c08b9 25 Global variables
ms523 0:fdc9474c08b9 26 **************************************************************************/
ms523 0:fdc9474c08b9 27 extern Serial PC;