2 D.O.F. Rocket Engine Gimbal

This code generates practical control information from the euler angles of a 2 D.O.F rocket gimbal. There are a few different control schemes including mouse input, arrow keys, and sliders. The full version of the code can output values to an arduino which uses them as inputs for linear actuator extension limits which control the orientation of the gimbal. This code uses euler angles and DCMs to calculate the position of the actuator hardpoints and then back calculates the actuator lengths. An alternate version of this code uses the same general process, but utilizes quaternions for rotations instead of DCMs.