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:
- 99:7bbcb3c0fb06
- Parent:
- 97:d71c57e3515e
- Child:
- 106:a511a5a84439
--- a/setting.h Wed Aug 19 02:27:45 2020 +0000 +++ b/setting.h Mon Sep 07 13:24:15 2020 +0000 @@ -422,18 +422,21 @@ extern float D_LPF; extern float torq_ref_past ; +extern float output_normalized; //extern const int num_input ; //extern const int num_input_array; +#define numpast_u 5 #define numpast_x 5 #define numfuture_x 0 -#define numpast_f 0 +#define numpast_f 5 #define numfuture_f 10 -#define num_input 17 //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 11 // numpast_u * 2 + 1 #define num_array_f_future 21 // numfuture_f * 2 + 1 -#define num_array_f_past 1 // numpast_f * 2 + 1 +#define num_array_f_past 11 // numpast_f * 2 + 1 #define num_array_x_past 11 // numpast_x * 2 + 1 #define num_array_x_future 1 // numfuture_x * 2 + 1