File content as of revision 2:a51b150e4189:

#include "mbed.h"
#include "AX12.h"

#define B 45                // Offset dimension
#define FEMUR 80            // Femur length
#define TIBIA 140           // Tibia length
#define ULNA 90             // Ulna length
#define RADIUS 120          // Radius length
#define X_OFFSET 25         // Distance from the X-axis -> servo centre
#define PI 3.14159

/********** Global structures **********/
struct Positions {
    float X_fore_right;
    float Y_fore_right;
    float Z_fore_right;
    float X_fore_left;
    float Y_fore_left;
    float Z_fore_left;
    float X_hind_right;
    float Y_hind_right;
    float Z_hind_right;
    float X_hind_left;
    float Y_hind_left;
    float Z_hind_left;
};

/**************************************************************************
Global variables
**************************************************************************/
extern AX12 Fore_Right_Hip_Lateral,
            Fore_Right_Hip,
            Fore_Right_Knee,
            Fore_Left_Hip_Lateral,
            Fore_Left_Hip,
            Fore_Left_Knee,
            Hind_Right_Hip_Lateral,
            Hind_Right_Hip,
            Hind_Right_Knee,
            Hind_Left_Hip_Lateral,
            Hind_Left_Hip,
            Hind_Left_Knee;

/********** Functions **********/
Positions FK_Engine();