63 lines
1.9 KiB
C++
63 lines
1.9 KiB
C++
//
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// Created by tlab-uav on 24-9-11.
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//
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#include "rl_quadruped_controller/FSM/StateFixedDown.h"
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#include <cmath>
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StateFixedDown::StateFixedDown(CtrlComponent &ctrlComp,
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const std::vector<double> &target_pos,
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const double kp,
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const double kd)
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: FSMState(FSMStateName::FIXEDDOWN, "fixed down", ctrlComp),
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kp_(kp), kd_(kd) {
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duration_ = ctrl_comp_.frequency_ * 1.2;
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for (int i = 0; i < 12; i++) {
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target_pos_[i] = target_pos[i];
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}
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}
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void StateFixedDown::enter() {
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for (int i = 0; i < 12; i++) {
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start_pos_[i] = ctrl_comp_.joint_position_state_interface_[i].get().get_value();
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}
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ctrl_comp_.control_inputs_.command = 0;
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for (int i = 0; i < 12; i++) {
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ctrl_comp_.joint_position_command_interface_[i].get().set_value(start_pos_[i]);
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ctrl_comp_.joint_velocity_command_interface_[i].get().set_value(0);
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ctrl_comp_.joint_torque_command_interface_[i].get().set_value(0);
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ctrl_comp_.joint_kp_command_interface_[i].get().set_value(kp_);
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ctrl_comp_.joint_kd_command_interface_[i].get().set_value(kd_);
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}
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}
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void StateFixedDown::run() {
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percent_ += 1 / duration_;
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phase = std::tanh(percent_);
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for (int i = 0; i < 12; i++) {
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ctrl_comp_.joint_position_command_interface_[i].get().set_value(
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phase * target_pos_[i] + (1 - phase) * start_pos_[i]);
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}
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}
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void StateFixedDown::exit() {
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percent_ = 0;
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}
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FSMStateName StateFixedDown::checkChange() {
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if (percent_ < 1.5) {
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return FSMStateName::FIXEDDOWN;
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}
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switch (ctrl_comp_.control_inputs_.command) {
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case 1:
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return FSMStateName::PASSIVE;
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case 2:
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return FSMStateName::FIXEDSTAND;
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case 3:
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return FSMStateName::RL;
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default:
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return FSMStateName::FIXEDDOWN;
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}
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}
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