Diff: CONTROL/control.cpp

Revision:

0:dd5d4837292c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CONTROL/control.cpp	Wed Jun 09 01:41:45 2021 +0000
@@ -0,0 +1,43 @@
+#include "control.h"
+
+
+void control(float ankp, float knp)
+{
+    if(command_control_flag == 1)
+        command_control();
+            
+    
+    if(c_lock == 0)
+    {
+        calculate_fuzzy(ankp,knp);
+    }
+    
+    // 将计算得到的数值赋给控制器
+    
+    a_control.ankle.p_des = cal_command.q_des_ankle;
+    a_control.ankle.v_des = cal_command.qd_des_ankle;
+    a_control.ankle.kp    = cal_command.kp_ankle;
+    a_control.ankle.kd    = cal_command.kd_ankle;
+    a_control.ankle.t_ff  = cal_command.tau_ankle_ff;
+        
+    a_control.knee.p_des = cal_command.q_des_knee;
+    a_control.knee.v_des = cal_command.qd_des_knee;
+    a_control.knee.kp    = cal_command.kp_knee;
+    a_control.knee.kd    = cal_command.kd_knee;
+    a_control.knee.t_ff  = cal_command.tau_knee_ff;
+    
+}
+  
+    
+
+
+
+
+
+
+      
+        
+        
+
+
+