/* 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;
}
}
/* --13-- Put the robot in double stance, and set the ID_CTRL_TEST_R0 to be a
* value between 0.0 (no push-off) and 1.0 (maximum push-off). The robot
* will then alternate between push-off and stance hold on the inner feet,
* waiting 4.0 seconds between each change. The outer feet remain in stance
* hold the entire time, and the hip just (weakly) holds a constant angle */
void test_pushOff_outer(void) {
float kp_hip = 10; // weak gains on the hip
float kd_hip = 0.5;
float qh_hold = -0.3; // hold this angle
float period = 8.0; // 4 seconds push, 4 seconds hold
float modeSignal; // -1.0 for push, 1.0 for hold
float push; // Amplitude of the push-off feed-forward term, from labVIEW
float time = getTime();
push = mb_io_get_float(ID_CTRL_TEST_R0);
modeSignal = SquareWave(time, period, -1.0, 1.0);
if (modeSignal < 0.0) {
pushOff_ankInn(push);
} else {
holdStance_ankInn();
}
holdStance_ankOut();
trackRel_hip(qh_hold, kp_hip, kd_hip);
}
/* 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;
}
}
