Shao Rui
/
CH_Communicatuin_Test
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CONTROL/control.cpp@5:6a95726e45b0, 2019-10-08 (annotated)
- Committer:
- WXD
- Date:
- Tue Oct 08 04:35:23 2019 +0000
- Revision:
- 5:6a95726e45b0
- Child:
- 6:aad89fd109c2
qqq
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| WXD | 5:6a95726e45b0 | 1 | #include "control.h" |
| WXD | 5:6a95726e45b0 | 2 | |
| WXD | 5:6a95726e45b0 | 3 | |
| WXD | 5:6a95726e45b0 | 4 | unsigned int send_enable = 0; |
| WXD | 5:6a95726e45b0 | 5 | |
| WXD | 5:6a95726e45b0 | 6 | |
| WXD | 5:6a95726e45b0 | 7 | void control() |
| WXD | 5:6a95726e45b0 | 8 | { |
| WXD | 5:6a95726e45b0 | 9 | if(c_control == 1) |
| WXD | 5:6a95726e45b0 | 10 | command_control(); |
| WXD | 5:6a95726e45b0 | 11 | |
| WXD | 5:6a95726e45b0 | 12 | if(c_lock == 1) // 处于PC串口锁定模式 |
| WXD | 5:6a95726e45b0 | 13 | { |
| WXD | 5:6a95726e45b0 | 14 | cal_command.q_des_pf = SP_pf; |
| WXD | 5:6a95726e45b0 | 15 | cal_command.qd_des_pf = 0.0f; |
| WXD | 5:6a95726e45b0 | 16 | cal_command.kp_pf = 800.0f; |
| WXD | 5:6a95726e45b0 | 17 | cal_command.kd_pf = 100.0f; |
| WXD | 5:6a95726e45b0 | 18 | cal_command.tau_pf_ff = 0.0f; |
| WXD | 5:6a95726e45b0 | 19 | |
| WXD | 5:6a95726e45b0 | 20 | cal_command.q_des_df = SP_df; |
| WXD | 5:6a95726e45b0 | 21 | cal_command.qd_des_df = 0.0f; |
| WXD | 5:6a95726e45b0 | 22 | cal_command.kp_df = 800.0f; |
| WXD | 5:6a95726e45b0 | 23 | cal_command.kd_df = 100.0f; |
| WXD | 5:6a95726e45b0 | 24 | cal_command.tau_df_ff = 0.0f; |
| WXD | 5:6a95726e45b0 | 25 | } |
| WXD | 5:6a95726e45b0 | 26 | |
| WXD | 5:6a95726e45b0 | 27 | if(c_lock == 0) |
| WXD | 5:6a95726e45b0 | 28 | { |
| WXD | 5:6a95726e45b0 | 29 | calculate_pf(); |
| WXD | 5:6a95726e45b0 | 30 | calculate_df(); |
| WXD | 5:6a95726e45b0 | 31 | } |
| WXD | 5:6a95726e45b0 | 32 | |
| WXD | 5:6a95726e45b0 | 33 | // 将计算得到的数值赋给控制器 |
| WXD | 5:6a95726e45b0 | 34 | a_control.pf.p_des = cal_command.q_des_pf; |
| WXD | 5:6a95726e45b0 | 35 | a_control.pf.v_des = cal_command.qd_des_pf; |
| WXD | 5:6a95726e45b0 | 36 | a_control.pf.kp = cal_command.kp_pf; |
| WXD | 5:6a95726e45b0 | 37 | a_control.pf.kd = cal_command.kd_pf; |
| WXD | 5:6a95726e45b0 | 38 | a_control.pf.t_ff = cal_command.tau_pf_ff; |
| WXD | 5:6a95726e45b0 | 39 | |
| WXD | 5:6a95726e45b0 | 40 | a_control.df.p_des = cal_command.q_des_df; |
| WXD | 5:6a95726e45b0 | 41 | a_control.df.v_des = cal_command.qd_des_df; |
| WXD | 5:6a95726e45b0 | 42 | a_control.df.kp = cal_command.kp_df; |
| WXD | 5:6a95726e45b0 | 43 | a_control.df.kd = cal_command.kd_df; |
| WXD | 5:6a95726e45b0 | 44 | a_control.df.t_ff = cal_command.tau_df_ff; |
| WXD | 5:6a95726e45b0 | 45 | } |
| WXD | 5:6a95726e45b0 | 46 | |
| WXD | 5:6a95726e45b0 | 47 | |
| WXD | 5:6a95726e45b0 | 48 | |
| WXD | 5:6a95726e45b0 | 49 | |
| WXD | 5:6a95726e45b0 | 50 | |
| WXD | 5:6a95726e45b0 | 51 | |
| WXD | 5:6a95726e45b0 | 52 | |
| WXD | 5:6a95726e45b0 | 53 | |
| WXD | 5:6a95726e45b0 | 54 | |
| WXD | 5:6a95726e45b0 | 55 | |
| WXD | 5:6a95726e45b0 | 56 | |
| WXD | 5:6a95726e45b0 | 57 | |
| WXD | 5:6a95726e45b0 | 58 | |
| WXD | 5:6a95726e45b0 | 59 |