Rune Harlyk
28 lines
460 B
C
28 lines
460 B
C
#ifndef IK_TASK_H
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#define IK_TASK_H
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#include <Arduino.h>
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#include <servo.h>
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#include <IK_config.h>
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#include <spot_ik.h>
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#define DEGREES2RAD 0.017453292519943
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typedef struct {
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float omega;
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float phi;
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float psi;
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float xm;
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float ym;
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float zm;
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bool set;
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} position_t;
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void set_orientation_cb(int16_t omega, int16_t phi, int16_t psi, int16_t xm, int16_t ym, int16_t zm);
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void reset_position();
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void task_ik(void *ignore);
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#endif
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