Revision 1:a71791b81b8a, committed 2020-11-17

Comitter:

panzhan

Date:

Tue Nov 17 11:32:58 2020 +0000

Parent:

0:d80c66cb1b3a

Commit message:

dadsada

Changed in this revision

--- a/main.cpp	Tue Nov 10 09:09:58 2020 +0000
+++ b/main.cpp	Tue Nov 17 11:32:58 2020 +0000
@@ -50,19 +50,19 @@
     EnterMotorMode(&ankle_txMsg);
 
 //////////////////////////////////////////position/////////////////////////////////////////
-//        a_control.ankle.p_des=3.14/8;
-//        a_control.ankle.v_des=0;
-//        a_control.ankle.kp=10;
-//        a_control.ankle.kd=0;
-//        a_control.ankle.t_ff=0;
-//
-//        a_control.knee.p_des=3.14/8;
-//        a_control.knee.v_des=0;
-//        a_control.knee.kp=10;
-//        a_control.knee.kd=0;
-//        a_control.knee.t_ff=0;
-//        PackAll();
-//        WriteAll();
+    a_control.ankle.p_des=3.14/8;
+    a_control.ankle.v_des=0;
+    a_control.ankle.kp=5;
+    a_control.ankle.kd=0;
+    a_control.ankle.t_ff=0;
+
+    a_control.knee.p_des=3.14/8;
+    a_control.knee.v_des=0;
+    a_control.knee.kp=5;
+    a_control.knee.kd=0;
+    a_control.knee.t_ff=0;
+    PackAll();
+    WriteAll();
 
 
     while(1) {
@@ -74,28 +74,28 @@
         knee_can.read(knee_rxMsg);
         unpack_reply(knee_rxMsg, &a_state);
 
-        ankp = a_state.ankle_state.p;                                                     // 从CAN获得的当前位置
-        ankv = a_state.ankle_state.v;
-        ankt = a_state.ankle_state.t;
+        float ankp = a_state.ankle_state.p;                                                     // 从CAN获得的当前位置
+        float ankv = a_state.ankle_state.v;
+        float ankt = a_state.ankle_state.t;
 
-        knp = a_state.knee_state.p;
-        knv = a_state.knee_state.v;
-        knt = a_state.knee_state.t;
+        float knp = a_state.knee_state.p;
+        float knv = a_state.knee_state.v;
+        float knt = a_state.knee_state.t;
 
         pc.printf("%.3f--%.3f--%.3f==================%.3f--%.3f--%.3f\n",ankp,ankv,ankt,knp,knv,knt);
 
 ///////////////////////////////////////velocity///////////////////////////////////////////////
 
 //        a_control.ankle.p_des=0;
-//        a_control.ankle.v_des=500*2*3.14/60/49;
+//        a_control.ankle.v_des=100*2*3.14/60/49;
 //        a_control.ankle.kp=0;
-//        a_control.ankle.kd=3;
+//        a_control.ankle.kd=4;
 //        a_control.ankle.t_ff=0;
 //
 //        a_control.knee.p_des=0;
-//        a_control.knee.v_des=500*2*3.14/60/49;
+//        a_control.knee.v_des=100*2*3.14/60/49;
 //        a_control.knee.kp=0;
-//        a_control.knee.kd=3;
+//        a_control.knee.kd=4;
 //        a_control.knee.t_ff=0;
 //        PackAll();
 //        WriteAll();