yezhong yezhong / panzhan_main_controller_continuous_LX

11

Dependencies:   mbed-dev-f303

CONTROL/control.cpp@0:dd5d4837292c, 2021-06-09 (annotated)

Committer:
panzhan
Date:
Wed Jun 09 01:41:45 2021 +0000
Revision:
0:dd5d4837292c
continuous motion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
panzhan 0:dd5d4837292c 1 #include "control.h"
panzhan 0:dd5d4837292c 2
panzhan 0:dd5d4837292c 3
panzhan 0:dd5d4837292c 4 void control(float ankp, float knp)
panzhan 0:dd5d4837292c 5 {
panzhan 0:dd5d4837292c 6 if(command_control_flag == 1)
panzhan 0:dd5d4837292c 7 command_control();
panzhan 0:dd5d4837292c 8
panzhan 0:dd5d4837292c 9
panzhan 0:dd5d4837292c 10 if(c_lock == 0)
panzhan 0:dd5d4837292c 11 {
panzhan 0:dd5d4837292c 12 calculate_fuzzy(ankp,knp);
panzhan 0:dd5d4837292c 13 }
panzhan 0:dd5d4837292c 14
panzhan 0:dd5d4837292c 15 // 将计算得到的数值赋给控制器
panzhan 0:dd5d4837292c 16
panzhan 0:dd5d4837292c 17 a_control.ankle.p_des = cal_command.q_des_ankle;
panzhan 0:dd5d4837292c 18 a_control.ankle.v_des = cal_command.qd_des_ankle;
panzhan 0:dd5d4837292c 19 a_control.ankle.kp = cal_command.kp_ankle;
panzhan 0:dd5d4837292c 20 a_control.ankle.kd = cal_command.kd_ankle;
panzhan 0:dd5d4837292c 21 a_control.ankle.t_ff = cal_command.tau_ankle_ff;
panzhan 0:dd5d4837292c 22
panzhan 0:dd5d4837292c 23 a_control.knee.p_des = cal_command.q_des_knee;
panzhan 0:dd5d4837292c 24 a_control.knee.v_des = cal_command.qd_des_knee;
panzhan 0:dd5d4837292c 25 a_control.knee.kp = cal_command.kp_knee;
panzhan 0:dd5d4837292c 26 a_control.knee.kd = cal_command.kd_knee;
panzhan 0:dd5d4837292c 27 a_control.knee.t_ff = cal_command.tau_knee_ff;
panzhan 0:dd5d4837292c 28
panzhan 0:dd5d4837292c 29 }
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