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附录3:四足步态算法及其控制代码VIP免费

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附录3:四足步态算法及其控制代码/************************************工程名:DOG*文件名:main.c*功能:上位机步态算法平台。*CPU:M167.3728MHZ晶振*作者:YY*当前版本:1.0*日期:2008-4-2************************************/#include#include#include#include//#include#include"gait.h"#include"usart.h"#include"think.h"#include"ad.h"unsignedcharsend_pwm[9]={53,18,34,67,39,63,50,23,45};//PWM参数数组unsignedcharup_t=0;//时钟更新标志unsignedchart;//步态时钟节拍unsignedcharerror=0;//错误标志unsignedchart_backup;//t的备份unsignedcharone_T=0;/*******************************************************************定时器0用来产生步态时钟,定时器1和2用来产生PWM波,调配输出光色******************************************************************/voidtime_init(void){TCCR0=(0<105){t=0;one_T=1;}elset++;up_t=1;}/**********容错处理,USART接收中断**************/SIGNAL(SIG_UART_RECV){if('N'==UDR){error=1;}}intmain(void){cli();wdt_disable();io_init();usart_init();time_init();sei();usart_send_pwm();//位置初始化find_do();}/************************************工程名:DOG*文件名:gait.c*功能:步态算法函数文件。*当前版本:1.0*日期:2008-4-2************************************//************************************当前版本:2.0*步态参数事先计算,更改相关函数*日期:2008-4-10************************************/#include"gait.h"constprog_uchart_a1[]={//1#膝关节53,51,46,41,35,29,24,20,16,14,13,13,14,16,20,24,29,35,41,46,51,53,53,52,52,52,51,51,51,51,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,51,51,51,51,51,51,51,51,52,52,52,52,52,52,52,52,52,52,52,52,53,53,53,53};constprog_uchart_a2[]={//1#髋关节18,18,16,14,12,10,8,7,6,6,6,6,8,10,12,15,19,22,26,30,32,34,34,34,33,32,32,31,31,30,29,29,28,28,28,28,28,28,28,28,27,27,27,27,27,27,27,26,26,26,26,26,26,26,26,26,25,25,25,25,25,25,25,25,25,24,24,24,24,24,24,24,24,23,23,23,23,22,22,22,21,21,21,20,20,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,18,18,18,18,18,18,18};constprog_uchart_a3[]={//3#膝关节34,34,34,34,34,34,35,35,35,35,35,35,35,35,36,36,36,36,36,36,36,36,37,37,37,38,38,38,38,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,40,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,38,38,38,38,40,44,49,55,60,65,70,73,75,76,76,75,72,69,64,59,53,47,41,36,34};constprog_uchart_a4[]={//3#髋关节72,72,72,72,72,72,72,72,72,72,72,72,71,71,71,71,71,71,71,71,71,71,71,70,70,70,70,69,69,68,68,68,68,68,68,67,67,67,67,67,67,67,67,67,67,66,66,66,66,66,66,66,66,66,66,65,65,65,65,65,65,65,65,65,64,64,64,64,64,64,64,64,63,63,63,63,62,62,61,61,60,60,59,58,58,58,60,62,66,69,73,76,77,78,7...

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附录3:四足步态算法及其控制代码

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