Ted Parrott
/
InverseKinematics2
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Fork of InverseKinematics2 by
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?
User | Revision | Line number | New 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; |