Rune Harlyk
19 lines
544 B
C
19 lines
544 B
C
#ifndef SPOT_IK_H
|
|
#define SPOT_IK_H
|
|
|
|
#include "esp_err.h"
|
|
|
|
typedef struct {
|
|
float x;
|
|
float y;
|
|
float z;
|
|
} point;
|
|
|
|
esp_err_t leg_IK(float* p, uint8_t leg_id, int16_t servo_angles[3]);
|
|
esp_err_t body_IK(float omega, float phi, float psi, float xm, float ym, float zm);
|
|
esp_err_t spot_IK(float omega, float phi, float psi, float xm, float ym, float zm, int16_t servoangles[4][3]);
|
|
|
|
void print_matrix(float * matrix, int n, int m, char* name) ;
|
|
void print_int_matrix(int16_t * matrix, int n, int m, char* name, uint8_t newlines);
|
|
|
|
#endif |