pan zhan / panzhan_main_controller_continuous

12

Dependencies:   mbed-dev_spine

fuzzy/fuzzy.h@0:dd5d4837292c, 2021-06-09 (annotated)

Committer:
panzhan
Date:
Wed Jun 09 01:41:45 2021 +0000
Revision:
0:dd5d4837292c
continuous motion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
panzhan 0:dd5d4837292c 1 #ifndef _fuzzy_h_
panzhan 0:dd5d4837292c 2 #define _fuzzy_h_
panzhan 0:dd5d4837292c 3
panzhan 0:dd5d4837292c 4 #include "mbed.h"
panzhan 0:dd5d4837292c 5
panzhan 0:dd5d4837292c 6 #define max(a, b) (a>b? a:b)
panzhan 0:dd5d4837292c 7 #define min(a, b) (a<b? a:b)
panzhan 0:dd5d4837292c 8 #define range(x, a, b) (min(max(x, a), b))
panzhan 0:dd5d4837292c 9
panzhan 0:dd5d4837292c 10
panzhan 0:dd5d4837292c 11 #define ANKLEE (60.0f)
panzhan 0:dd5d4837292c 12 #define ANKLEEC (15.0f)
panzhan 0:dd5d4837292c 13
panzhan 0:dd5d4837292c 14 #define KNEEE (35.0f)
panzhan 0:dd5d4837292c 15 #define KNEEEC (15.0f)
panzhan 0:dd5d4837292c 16
panzhan 0:dd5d4837292c 17
panzhan 0:dd5d4837292c 18
panzhan 0:dd5d4837292c 19
panzhan 0:dd5d4837292c 20 extern const float FuzzyRuleKp[7][7];
panzhan 0:dd5d4837292c 21 extern const float FuzzyRuleKd[7][7];
panzhan 0:dd5d4837292c 22
panzhan 0:dd5d4837292c 23
panzhan 0:dd5d4837292c 24 typedef struct{
panzhan 0:dd5d4837292c 25 float quantied_e;
panzhan 0:dd5d4837292c 26 float quantied_ec;
panzhan 0:dd5d4837292c 27 float quantied_resault;
panzhan 0:dd5d4837292c 28 float outKp;
panzhan 0:dd5d4837292c 29 float outKd;
panzhan 0:dd5d4837292c 30 }fuzzy_control_t;
panzhan 0:dd5d4837292c 31 void fuzzy_init(fuzzy_control_t *fuzzy ,float max_e,float max_ec,float gain);
panzhan 0:dd5d4837292c 32 void fuzzy_control(float e,float ec,fuzzy_control_t *fuzzy,const float fuzzyRuleKp[7][7],const float fuzzyRuleKd[7][7]);
panzhan 0:dd5d4837292c 33
panzhan 0:dd5d4837292c 34 extern fuzzy_control_t ankleFuzzy, kneeFuzzy;
panzhan 0:dd5d4837292c 35
panzhan 0:dd5d4837292c 36
panzhan 0:dd5d4837292c 37 #endif