This repo stores the kinematics and impedance control matlab/simulink files. The latest files are on the Speedgoat pc.
Use the demo folder to view the forward and inverse kinematics. The values can be used in the simulink file to test it out on the legs.
Use the aluminium with the runOnSpeedGoat folders to test all the files. First run the set to zero file and thereafter the 'test.slx' file.