11
CONTROL/control.cpp
- Committer:
- yezhong
- Date:
- 2021-08-06
- Revision:
- 2:9418258519ea
- Parent:
- 0:dd5d4837292c
File content as of revision 2:9418258519ea:
#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; }