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DataflashManager.c
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Dean Camera authored
Add FatFS library to the Webserver project, extend the HTTP server so that it now serves files from the Dataflash. Add Mass Storage device mode class driver so that files can be loaded to the board Dataflash when inserted into a PC.
Dean Camera authoredAdd FatFS library to the Webserver project, extend the HTTP server so that it now serves files from the Dataflash. Add Mass Storage device mode class driver so that files can be loaded to the board Dataflash when inserted into a PC.
jacobian_foot.m 460 B
function J = jacobian_foot(in1,in2)
%JACOBIAN_FOOT
% J = JACOBIAN_FOOT(IN1,IN2)
% This function was generated by the Symbolic Math Toolbox version 8.7.
% 02-Dec-2021 21:48:14
l_AC = in2(22,:);
l_DE = in2(23,:);
l_OB = in2(21,:);
th1 = in1(1,:);
th2 = in1(2,:);
t2 = cos(th1);
t3 = sin(th1);
t4 = th1+th2;
t5 = cos(t4);
t6 = sin(t4);
t7 = l_AC.*t5;
t8 = l_AC.*t6;
J = reshape([t7+l_DE.*t2+l_OB.*t2,t8+l_DE.*t3+l_OB.*t3,t7,t8,1.0,0.0,0.0,1.0],[2,4]);