Shao Rui
/
CH_Communicatuin_Test2
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Diff: CONTROL/CALCULATE/calculate.cpp
- Revision:
- 5:6a95726e45b0
- Child:
- 6:aad89fd109c2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CONTROL/CALCULATE/calculate.cpp Tue Oct 08 04:35:23 2019 +0000
@@ -0,0 +1,68 @@
+#include "calculate.h"
+
+
+float pf_position = 0;
+float df_position = 0;
+
+
+void calculate_pf()
+{
+ //send_enable = 1;
+
+
+
+
+
+
+
+
+ cal_command.q_des_pf = pf_position;
+ cal_command.qd_des_pf = 0.0f;
+ cal_command.kp_pf = 800.0f;
+ cal_command.kd_pf = 100.0f;
+ cal_command.tau_pf_ff = 0.0f;
+}
+
+
+void calculate_df()
+{
+ //send_enable = 1;
+
+
+
+
+
+
+ cal_command.q_des_df = df_position;
+ cal_command.qd_des_df = 0.0f;
+ cal_command.kp_df = 800.0f;
+ cal_command.kd_df = 100.0f;
+ cal_command.tau_df_ff = 0.0f;
+}
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