/* Sends commands to the motors based on the current state of the
* walking finite state machine */
void sendMotorCommands(void) {
float push = CtrlWalk_ankPush;
switch (WALK_FSM_MODE_PREV) {
case Glide_Out:
holdStance_ankOut();
flipUp_ankInn();
hipGlide();
break;
case Push_Out:
flipDown_ankInn();
pushOff_ankOut(push);
hipHold(CtrlWalk_hipHold);
break;
case Glide_Inn:
flipUp_ankOut();
holdStance_ankInn();
hipGlide();
break;
case Push_Inn:
flipDown_ankOut();
pushOff_ankInn(push);
hipHold(CtrlWalk_hipHold);
break;
case Flight: // In the air, get ready for Glide_Out
holdStance_ankOut();
flipUp_ankInn();
disable_hip();
break;
}
}
/* Sends commands to the motors based on the current state of the
* walking finite state machine */
void sendMotorCommands(void) {
float hipTargetAngle;
float push = CtrlWalk_ankPush;
switch (WALK_FSM_MODE_PREV) {
case Glide_Out:
holdStance_ankOut();
flipUp_ankInn();
hipGlide();
break;
case Push1_Out:
case Push2_Out:
flipDown_ankInn();
pushOff_ankOut(push);
hipTargetAngle = getTargetHipAngle(STATE_th0, STATE_th1, CtrlWalk_critStepLen);
hipHold(hipTargetAngle);
break;
case Glide_Inn:
holdStance_ankInn();
flipUp_ankOut();
hipGlide();
break;
case Push1_Inn:
case Push2_Inn:
flipDown_ankOut();
pushOff_ankInn(push);
hipTargetAngle = getTargetHipAngle(STATE_th1, STATE_th0, CtrlWalk_critStepLen);
hipHold(hipTargetAngle);
break;
case Flight: // In the air, get ready for Glide_Out
holdStance_ankOut();
flipUp_ankInn();
disable_hip();
break;
}
}
/* --15-- Holds both feet in stance. The behavior of the hip:
* double stance = do nothing
* flight = hold zero
* single stance outer = hold pos
* single stance inner = hold neg */
void test_hipHold() {
holdStance_ankOut();
holdStance_ankInn();
hipHold(0.3);
}
