control.cpp

00001 #include "control.h"
00002 
00003 
00004 void control(float ankp, float knp)
00005 {
00006     if(command_control_flag == 1)
00007         command_control();
00008             
00009     
00010     if(c_lock == 0)
00011     {
00012         calculate_fuzzy(ankp,knp);
00013     }
00014     
00015     // 将计算得到的数值赋给控制器
00016     
00017     a_control.ankle.p_des = cal_command.q_des_ankle;
00018     a_control.ankle.v_des = cal_command.qd_des_ankle;
00019     a_control.ankle.kp    = cal_command.kp_ankle;
00020     a_control.ankle.kd    = cal_command.kd_ankle;
00021     a_control.ankle.t_ff  = cal_command.tau_ankle_ff;
00022         
00023     a_control.knee.p_des = cal_command.q_des_knee;
00024     a_control.knee.v_des = cal_command.qd_des_knee;
00025     a_control.knee.kp    = cal_command.kp_knee;
00026     a_control.knee.kd    = cal_command.kd_knee;
00027     a_control.knee.t_ff  = cal_command.tau_knee_ff;
00028     
00029 }
00030   
00031     
00032 
00033 
00034 
00035 
00036 
00037 
00038       
00039         
00040         
00041 
00042 
00043