bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Controls/Dynamics.cpp
- Committer:
- amandaghassaei
- Date:
- 2015-12-08
- Revision:
- 11:711d3c207e8c
- Parent:
- 10:769cc457c3a4
- Child:
- 12:49813131dd15
File content as of revision 11:711d3c207e8c:
#include "Dynamics.h" #include <math.h> # define M_PI 3.14159265358979323846 float calcTau(volatile float z[4], float p[10], Gains *gains, Serial *pc){ float th1 = z[0]; float th2 = z[1]; float dth1 = z[2]; float dth2 = z[3]; float E = getEnergy(z, p); float A[2][2]; getMassMatrix(A, z, p); float AHat = A[1][1]-A[1][0]*A[0][1]/A[0][0]; float corrCentripComp[2]; getCoriolisCentrip(corrCentripComp, z, p); float corrCentripCompHat = corrCentripComp[1]-A[1][0]*corrCentripComp[0]/A[0][0]; float gravityComp[2]; getGravity(gravityComp, z, p); float gravityCompHat = gravityComp[1]-A[1][0]*gravityComp[0]/A[0][0]; float K = gains->getSwingUpK(); float D = gains->getSwingUpD(); float th2Des = thetaDesired(2.2, th1, th2, dth1, dth2); float ddth2 = K*(th2Des - th2) - D*dth2; float tau = gains->getCurrentP()*AHat*ddth2 + corrCentripCompHat + gravityCompHat; return tau; } float thetaDesired(float range, float th1, float th2, float dth1, float dth2){ int numTurns = fix(th1/(2*M_PI)); float th1Rel = th1-numTurns*2*M_PI; return signNonZero(dth1)*(range-abs(th1Rel));//*cos(th1) } int fix(float val){//round toward zero return val > 0 ? floor(val) : ceil(val); } int signNonZero(float val){ if (val < 0) return -1; return 1; }