TuxMonkey/bf_original_balance_chassis
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LQR计算解耦

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kai
2024-01-27 19:38:00 +08:00
parent 72b50e8a65
commit c9bba0bea2
4 changed files with 197 additions and 2 deletions
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2
application/chassis/linkNleg.h
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@@ -13,7 +13,7 @@ void VMCProject(LinkNPodParam *p)
float phi52 = p->phi5 - p->phi2;
float F_m_L = p->F_leg * p->leg_len;
p->T_back = (THIGH_LEN * msin(phi12) * (F_m_L * msin(phi53) + p->T_hip * mcos(phi53))) / (p->leg_len * msin(phi32));
p->T_front = (CALF_LEN * msin(phi34) * (F_m_L * msin(phi52) + p->T_hip * mcos(phi52))) / (p->leg_len * msin(phi32));
p->T_front = (THIGH_LEN * msin(phi34) * (F_m_L * msin(phi52) + p->T_hip * mcos(phi52))) / (p->leg_len * msin(phi32));
}
/**