Commit e920fe52 authored by Nicolas Van der Noot's avatar Nicolas Van der Noot

knee thres

parent d66dc00e
......@@ -38,7 +38,7 @@ void OPTI_NAME::SetOpti()
stim_lower_walk->SetGVas( {25.0 ; 35.0} );
stim_lower_walk->SetLTaSw( {0.8 ; 0.9} );
stim_lower_walk->SetLTaSt( {0.55 ; 0.65} );
stim_lower_walk->SetPhiKT( {2.8 ; 3.14} );
stim_lower_walk->SetPhiKT( {0.0 ; 0.3} );
stim_lower_walk->SetKpTheta( {4.0 ; 10.0} );
stim_lower_walk->SetKdTheta( {0.2 ; 0.8} );
......
......@@ -38,7 +38,7 @@ void OPTI_NAME::SetOpti()
stim_lower_walk->SetGVas( {25.0 ; 35.0} );
stim_lower_walk->SetLTaSw( {0.8 ; 0.9} );
stim_lower_walk->SetLTaSt( {0.55 ; 0.65} );
stim_lower_walk->SetPhiKT( {2.8 ; 3.14} );
stim_lower_walk->SetPhiKT( {0.0 ; 0.3} );
stim_lower_walk->SetKpTheta( {4.0 ; 10.0} );
stim_lower_walk->SetKdTheta( {0.2 ; 0.8} );
......
......@@ -38,7 +38,7 @@ void OPTI_NAME::SetOpti()
stim_lower_walk->SetGVas( {25.0 ; 35.0} );
stim_lower_walk->SetLTaSw( {0.8 ; 0.9} );
stim_lower_walk->SetLTaSt( {0.55 ; 0.65} );
stim_lower_walk->SetPhiKT( {2.8 ; 3.14} );
stim_lower_walk->SetPhiKT( {0.0 ; 0.3} );
stim_lower_walk->SetKpTheta( {4.0 ; 10.0} );
stim_lower_walk->SetKdTheta( {0.2 ; 0.8} );
......
......@@ -126,7 +126,7 @@ StimWalkCtrl::StimWalkCtrl(CtrlInputs *inputs, WalkStates *ws, ForwardKinematics
G_vas = 27.71188723;
l_ta_sw = 0.85946329;
l_ta_st = 0.62948339;
phi_k_t = 3.06113505;
phi_k_t = 0.26270854;
kp_theta = 8.03832121;
kd_theta = 0.65273761;
......
......@@ -32,7 +32,7 @@ double convert_to_optiParams(std::vector<double> optiNorms)
case 5 : return (last_elem * 10.00000000 + 25.00000000);
case 6 : return (last_elem * 0.10000000 + 0.80000000);
case 7 : return (last_elem * 0.10000000 + 0.55000000);
case 8 : return (last_elem * 0.34000000 + 2.80000000);
case 8 : return (last_elem * 0.30000000 + 0.00000000);
case 9 : return (last_elem * 6.00000000 + 4.00000000);
case 10 : return (last_elem * 0.60000000 + 0.20000000);
case 11 : return (last_elem * 5.00000000 + 10.00000000);
......
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