Buyoun Cho
[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).
Diff: setting.h
- Revision:
- 120:17398540bb1c
- Parent:
- 118:af86e883dcb4
- Child:
- 121:89396c37b03e
--- a/setting.h Mon Sep 14 07:19:35 2020 +0000 +++ b/setting.h Mon Sep 14 13:12:44 2020 +0000 @@ -427,14 +427,14 @@ //extern const int num_input ; //extern const int num_input_array; -#define numpast_u 0 +#define numpast_u 5 #define numpast_x 5 #define numfuture_x 0 #define numpast_f 5 #define numfuture_f 10 -#define num_input 22 //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f +#define num_input 27 //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f -#define num_array_u_past 1 // numpast_u * time_interval + 1 +#define num_array_u_past 11 // numpast_u * time_interval + 1 #define num_array_f_future 11 // numfuture_f * time_interval + 1 #define num_array_f_past 6 // numpast_f * time_interval + 1 #define num_array_x_past 6 // numpast_x * time_interval + 1