Diff: CONTROL/control.cpp

Revision:

0:d80c66cb1b3a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CONTROL/control.cpp	Tue Nov 10 09:09:58 2020 +0000
@@ -0,0 +1,65 @@
+#include "control.h"
+
+
+void control()
+{
+    if(command_control_flag == 1)
+        command_control();
+    
+    if(return_zero == 1)
+    {
+//        gangduceshi();
+    }
+         
+    if(c_lock == 1)                                                             // 处于PC串口锁定模式
+    {
+//        cal_command.q_des_pf  = SP_pf;
+//        cal_command.qd_des_pf = 0.0f;
+//        cal_command.kp_pf     = 200.0f;
+//        cal_command.kd_pf     = 0.0f;
+//        cal_command.tau_pf_ff = 0.0f;
+//        
+//        cal_command.q_des_df  = SP_df;
+//        cal_command.qd_des_df = 0.0f;
+//        cal_command.kp_df     = 200.0f;
+//        cal_command.kd_df     = 0.0f;
+//        cal_command.tau_df_ff = 0.0f;
+    }
+    
+    if(c_lock == 0)
+    {
+        //calculate_pf_kh();
+//        calculate_pf_fuzzy();
+        
+        //calculate_df();
+    }
+    
+    // 将计算得到的数值赋给控制器
+    
+//    a_control.pf.p_des = cal_command.q_des_pf;
+//    a_control.pf.v_des = cal_command.qd_des_pf;
+//    a_control.pf.kp    = cal_command.kp_pf / 7.0f;
+//    a_control.pf.kd    = cal_command.kd_pf / 7.0f;
+//    a_control.pf.t_ff  = cal_command.tau_pf_ff / 7.0f;
+//        
+//    a_control.df.p_des = cal_command.q_des_df;
+//    a_control.df.v_des = cal_command.qd_des_df;
+//    a_control.df.kp    = cal_command.kp_df / 10.0f;
+//    a_control.df.kd    = cal_command.kd_df / 10.0f;
+//    a_control.df.t_ff  = cal_command.tau_df_ff / 10.0f;
+    
+}
+  
+    
+
+
+
+
+
+
+      
+        
+        
+
+
+