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:
- 158:cb9a6999d5e2
- Parent:
- 155:6430e3f23871
- Child:
- 159:9dbc8dce3695
--- a/setting.h Sun Oct 11 11:06:30 2020 +0000 +++ b/setting.h Sun Oct 11 13:20:29 2020 +0000 @@ -438,17 +438,17 @@ #define numpast_u 0 #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_array_u_past 1 // numpast_u * time_interval + 1 -#define num_array_f_future 21 // numfuture_f * time_interval + 1 -#define num_array_f_past 1 // numpast_f * time_interval + 1 -#define num_array_x_past 11 // numpast_x * 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 #define num_array_x_future 1 // numfuture_x * time_interval + 1 -#define time_interval 2 +#define time_interval 1