yezhong yezhong / panzhan_main_controller_continuous_LX

11

Dependencies:   mbed-dev-f303

Diff: CONTROL/CALCULATE/calculate.h

Revision:
0:dd5d4837292c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CONTROL/CALCULATE/calculate.h	Wed Jun 09 01:41:45 2021 +0000
@@ -0,0 +1,29 @@
+#ifndef _CALCULATE_H
+#define _CALCULATE_H
+
+#include "mbed.h"
+#include "data_pc.h"
+#include "data_board.h"
+#include "fuzzy.h"
+#include "timer.h"
+#include "used_leg_message.h"
+
+
+
+#define CT (10)
+
+extern unsigned int send_enable;
+extern float pos_ankle;
+extern float pos_knee;
+
+
+
+float position_knee(float res);
+float position_ankle(float res);
+void calculate_ankle_fuzzy(float ankp, float knp);
+void calculate_fuzzy(float ankp, float knp);
+void init_joint_angles();
+
+
+
+#endif
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