2023-02-16 15:46:04 +08:00
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/* 平衡底盘lqr反馈增益和腿长的关系表,可以选择查找精度和插值 */
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#pragma once
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#include "stdint.h"
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2023-03-06 18:52:24 +08:00
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#include "stm32f407xx.h"
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2023-02-16 15:46:04 +08:00
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#include "arm_math.h"
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#include "math.h"
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#define GAIN_TABLE_SIZE 100 // 增益表大小
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// K 2x6,6个状态变量2个输出(Tp关节电机和T驱动轮电机)
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2023-03-06 18:52:24 +08:00
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static float leglen2gain [GAIN_TABLE_SIZE][2][6] = {0};
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2023-02-16 15:46:04 +08:00
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static interpolation_flag = 0; // 插值方式:1 线性插值 0 关闭插值
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void EnalbeInterpolation(void)
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{
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interpolation_flag = 1;
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}
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/* 默认关闭插值,向下取整 */
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float LookUpKgain(float leg_length)
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{
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}
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