Shao Rui / CH_Communicatuin_Test2

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Dependencies:   mbed-dev_spine

CONTROL/CALCULATE/calculate.cpp

Committer:
WXD
Date:
2019-10-08
Revision:
5:6a95726e45b0
Child:
6:aad89fd109c2

File content as of revision 5:6a95726e45b0:

#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;
}