calculate.h

00001 #ifndef _CALCULATE_H
00002 #define _CALCULATE_H
00003 
00004 #include "mbed.h"
00005 #include "data_pc.h"
00006 #include "data_board.h"
00007 #include "fuzzy.h"
00008 #include "timer.h"
00009 #include "used_leg_message.h"
00010 
00011 
00012 
00013 #define CT (50)
00014 
00015 
00016 typedef struct{
00017 float ankle_target_Kp;
00018 float ankle_target_Kd;
00019 float ankle_target_tff;
00020 
00021 float knee_target_Kp;
00022 float knee_target_Kd;
00023 float knee_target_tff;
00024 }target_pid;/*模糊PID的s设定值*/
00025 
00026 
00027 extern unsigned int send_enable;
00028 extern float pos_ankle;
00029 extern float pos_knee;
00030 extern target_pid tagertPID;
00031 
00032 
00033 
00034 
00035 float position_knee(float res);
00036 float position_ankle(float res);
00037 void calculate_ankle_fuzzy(float ankle_target_p, float knee_target_p);
00038 void calculate_fuzzy(float ankle_target_p, float knee_target_p);
00039 
00040 void fuzzy_position_control_ankle(float ankle_real_p, float pos_ankle);
00041 void fuzzy_position_control_knee(float knee_real_p, float pos_knee);
00042 
00043 void torque_control_ankle();
00044 void torque_control_knee();
00045 
00046 
00047 
00048 void init_joint_angles();
00049 
00050 
00051 
00052 
00053 #endif