-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathParameter.h
83 lines (61 loc) · 2.82 KB
/
Parameter.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
/*****************************************************************************************************************************
******************************************************************************************************************************
物理量などのマクロ定義のためのヘッダファイル
******************************************************************************************************************************
*****************************************************************************************************************************/
#pragma once
#include "Calculate_Position.h"
/************************************************************
マクロの定義
************************************************************/
#define ASSIST_RATE (3.0)
#define MAX_STOCK (100000)
//時間関係
#define MAIN_TIME (720) //MAIN_TIME != PRE_TIMEにしましょう（同じだと実行時の時間の表示が変わります）+2 (If it is the same, the display of the execution time will change) +2
#define PRE_TIME (3)
#define MAIN_TASK (MAIN_TIME*SAMPLING_FREQ)
#define PRE_TASK (PRE_TIME*SAMPLING_FREQ)
#define SAMPLING_FREQ (2000) //imp 2000 //だいたいのサンプリング周波数[Hz] // prev 2000 because EMG needs 2000Hz
#define SAMPLING_TIME ( (double)1.0/SAMPLING_FREQ )
#define DRAW_FREQ (20) //だいたいのサンプリング周波数[Hz]
#define DRAW_TIME ( (double)1.0/DRAW_FREQ )
//質量関係パラメータ
//#define PERSONAL_MASS 65.0 //装着者体重
#define PERSONAL_MASS 60 //simi 55 for yokomizo //装着者体重
//EMG関係
//#define NUM_RMS (int)(200)
//ファジィニューロ
//*** 物理定数 ***//
#define PI (3.14159265358979)
#define GRAVITY (9.80665)
#define DtoR ( PI/180.0 ) //degree→rad
#define RtoD ( 180.0/PI ) //rad→degree
//*** ロボット関係 ***//
//力センサの取り付け位置
#define LEN_H_HF (0.05) // length between hip joint and hip force sensor
#define LEN_K_KF (0.05) // length between knee joint and knee force sensor
#define LEN_A_AF (0.05) // length between Ancle joint and Anlcle force sensor
/************************************************************
構造体
************************************************************/
//enum num_def{
// R=0, L=1, //R:right L:left
// X=0, Y=1, Z=2,
// OFF=0, ON=1,
// H=0, K=1, A=2, U=3, //H:hip K:knee: A:ankle U:URG
//};
//
//
//struct Record_data{
// double enc[2][3];
// double force[2][3];
// double torq[2][3];
// double torq_pow[2][3];
// double torq_per[2][3];
// double bump[6];
// body_posi jointPos;
//};
//
const int GEAR_RATIO[3] = { 150,113,81 };
#define FILE_READ_OPEN( x, y ) if( ( x=fopen(y,"r") )==NULL ){ fprintf(stderr, "%s file not open\n",y); exit(1); }
#define FILE_WRITE_OPEN( x, y ) if( ( x=fopen(y,"w") )==NULL ){ fprintf(stderr, "%s file not open\n",y); exit(1); } //simi changed w to a for append