This is the quartic polynomial gait.
Diff: Brad_poly_gait.cpp
- Revision:
- 4:f96bcc712a13
- Parent:
- 3:ed0f6f302a0a
--- a/Brad_poly_gait.cpp Mon Jun 29 17:22:57 2015 +0000 +++ b/Brad_poly_gait.cpp Mon Jun 29 17:25:21 2015 +0000 @@ -8,7 +8,7 @@ /** Swing trajectory generation */ -BradPolySwing::BradPolySwing(Brad_poly_gait_t& p):_params(&p),_blend(), _blend_steps(0), _current_poly(0), _tau(0), pc(USBTX,USBRX), TrajectoryGenerator() +BradPolySwing::BradPolySwing(Brad_poly_gait_t& p):_params(&p),_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator() { //_phi{{0, 1, 2, 3, 4}, {0, 1, 2, 3, 4}}, /*_phi[0][0]=-22; @@ -25,11 +25,10 @@ _times[0]=0; _times[1]=378; _times[2]=900;*/ - pc.baud(921600); calculate_phi(); }; -BradPolySwing::BradPolySwing():_blend(), _blend_steps(0), _current_poly(0), _tau(0), pc(USBTX,USBRX), TrajectoryGenerator() +BradPolySwing::BradPolySwing():_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator() { //_phi{{0, 1, 2, 3, 4}, {0, 1, 2, 3, 4}}, _phi[0][0]=-22; @@ -46,7 +45,6 @@ _times[0]=0; _times[1]=378; _times[2]=900; - pc.baud(921600); }; bool BradPolySwing::calculate(int time, float &value) @@ -55,10 +53,6 @@ _blend.increment(value); } else { float tau=convert_to_tau(time); - /*pc.printf("%f, ", tau); - for(int ii=0; ii<5; ii++) { - pc.printf("%f, ", _phi[ii][_current_poly]); - }*/ value=_phi[0][_current_poly]+_phi[1][_current_poly]*tau+_phi[2][_current_poly]*tau*tau+_phi[3][_current_poly]*tau*tau*tau+_phi[4][_current_poly]*tau*tau*tau*tau; } @@ -123,7 +117,7 @@ /** Stance trajectory generation */ -BradPolyStance::BradPolyStance(Brad_poly_gait_t& p):_params(&p),_blend(), _blend_steps(0), _current_poly(0), _tau(0), pc(USBTX,USBRX), TrajectoryGenerator() +BradPolyStance::BradPolyStance(Brad_poly_gait_t& p):_params(&p),_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator() { /*_phi[0][0]=10; _phi[0][1]=0; @@ -132,11 +126,10 @@ _phi[0][4]=0; _times[0]=0; _times[1]=900;*/ - pc.baud(921600); calculate_phi(); }; -BradPolyStance::BradPolyStance():_blend(), _blend_steps(0), _current_poly(0), _tau(0), pc(USBTX,USBRX), TrajectoryGenerator() +BradPolyStance::BradPolyStance():_blend(), _blend_steps(0), _current_poly(0), _tau(0), TrajectoryGenerator() { _phi[0][0]=10; _phi[1][0]=0; @@ -145,7 +138,6 @@ _phi[4][0]=0; _times[0]=0; _times[1]=900; - pc.baud(921600); }; bool BradPolyStance::calculate(int time, float &value) @@ -154,10 +146,6 @@ _blend.increment(value); } else { float tau=convert_to_tau(time); - /*pc.printf("%f, ", tau); - for(int ii=0; ii<5; ii++) { - pc.printf("%f, ", _phi[ii][_current_poly]); - }*/ value=_phi[0][_current_poly]+_phi[1][_current_poly]*tau+_phi[2][_current_poly]*tau*tau+_phi[3][_current_poly]*tau*tau*tau+_phi[4][_current_poly]*tau*tau*tau*tau; } if(time>_params->time_steps) {