uTransmission.h

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#ifndef UTRANSMISSION_H
#define UTRANSMISSION_H
 
#define JOINT2ACTUATOR(in, reduction, offset) (reduction * (in - offset))
 
#define ACTUATOR2JOINT(in, reduction, offset) (in / reduction + offset)
 
#define M_PI 3.14159265358979323846
 
#define RAD2DEG(rad) (rad / M_PI * 180)
 
#define DEG2RAD(deg) (deg * M_PI / 180)
#endif //UTRANSMISSION_H