yezhong yezhong / panzhan_main_controller_continuous_LX

11

Dependencies:   mbed-dev-f303

CONTROL/CALCULATE/calculate.h

Committer:
yezhong
Date:
2021-08-06
Revision:
2:9418258519ea
Parent:
0:dd5d4837292c

File content as of revision 2:9418258519ea:

#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