36 lines
731 B
C++
36 lines
731 B
C++
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//
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// Created by biao on 24-9-12.
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//
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#include <unitree_guide_controller/FSM/StateSwingTest.h>
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StateSwingTest::StateSwingTest(CtrlComponent ctrlComp): FSMState(
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FSMStateName::SWINGTEST, "swing test", std::move(ctrlComp)) {
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_xMin = -0.15;
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_xMax = 0.10;
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_yMin = -0.15;
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_yMax = 0.15;
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_zMin = -0.05;
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_zMax = 0.20;
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}
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void StateSwingTest::enter() {
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}
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void StateSwingTest::run() {
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}
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void StateSwingTest::exit() {
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}
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FSMStateName StateSwingTest::checkChange() {
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switch (ctrlComp_.control_inputs_.get().command) {
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case 1:
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return FSMStateName::FIXEDDOWN;
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case 2:
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return FSMStateName::FIXEDSTAND;
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default:
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return FSMStateName::SWINGTEST;
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}
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}
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