/* 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;
}
}
/* --9-- The robot holds the outer feet while the inner feet alternate
* between flip-up and flip-down to hold. Used to test the basic
* wrapper functions on the ankles */
void test_flipUpDownHold_outer(void) {
float period = 2.0;
float upDownTest;
float time = getTime();
upDownTest = SquareWave(time, period, -1.0, 1.0);
if (upDownTest > 0.0) {
flipUp_ankInn();
} else {
flipDown_ankInn();
}
disable_hip();
holdStance_ankOut();
}
/* 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;
}
}
