move knee in open loop

StandaloneC/CMakeLists.txt

@@ -94,8 +94,8 @@ option (FLAG_ADAPTIVE_TIME_STEP
 #set(COMAN_VERSION "Basic_version")
 #set(COMAN_VERSION "Short_feet")
 #set(COMAN_VERSION "Compliant_feet")
-set(COMAN_VERSION "Long_arms")
-#set(COMAN_VERSION "SkyWalker")
+#set(COMAN_VERSION "Long_arms")
+set(COMAN_VERSION "SkyWalker")
 #set(COMAN_VERSION "Box_handling")
 
 

StandaloneC/src/project/user_files/UserModelStruct.c

@@ -2,7 +2,7 @@
 // C-code automatically generated from Gen_mds_user project
 //
 //
-// Last update : Tue Mar 17 13:12:55 2015
+// Last update : Tue Mar 31 16:36:33 2015
 //---------------------------
 
 
@@ -17,8 +17,8 @@ UserModelStruct* init_UserModelStruct()
 {
     UserModelStruct* ums;
     ums = (UserModelStruct*)malloc(sizeof(UserModelStruct));
-    ums->Actuator.Motor = get_int_vec(58+1);
-    ums->Actuator.Motor[0] = 58+1;
+    ums->Actuator.Motor = get_int_vec(46+1);
+    ums->Actuator.Motor[0] = 46+1;
  
     return ums;
 }

StandaloneC/src/project/user_files/UserModelStruct.h

@@ -2,7 +2,7 @@
 // C-code automatically generated from Gen_mds_user project
 //
 //
-// Last update : Tue Mar 17 13:12:55 2015
+// Last update : Tue Mar 31 16:36:33 2015
 //---------------------------
 
 

StandaloneC/src/project/user_files/user_all_id.h

@@ -2,7 +2,7 @@
 // C-code automatically generated from Gen_mds_user project
 //
 //
-// Last update : Tue Mar 17 13:12:55 2015
+// Last update : Tue Mar 31 16:36:32 2015
 //---------------------------
 
 
@@ -39,17 +39,15 @@
 #define RShSag_id 21
 #define RShLat_id 22
 #define RShYaw_id 23
-#define RElbj_id 24
-#define RForearmPlate_id 25
-#define RWrj1_id 26
-#define RWrj2_id 27
-#define LShSag_id 28
-#define LShLat_id 29
-#define LShYaw_id 30
-#define LElbj_id 31
-#define LForearmPlate_id 32
-#define LWrj1_id 33
-#define LWrj2_id 34
+#define RElb_id 24
+#define LShSag_id 25
+#define LShLat_id 26
+#define LShYaw_id 27
+#define LElb_id 28
+#define Rope_1_R1_id 29
+#define Rope_1_R2_id 30
+#define Rope_2_R1_id 31
+#define Rope_2_R2_id 32
 
 
 // body
@@ -66,7 +64,7 @@
 #define LThighLowLeg_id 14
 #define LLowLeg_id 15
 #define LFootmot_id 16
-#define LFootCg_id 17
+#define LFoot_id 17
 #define DWL_id 18
 #define DWS_id 19
 #define DWYTorso_id 20
@@ -74,27 +72,23 @@
 #define RShr_id 22
 #define RShy_id 23
 #define RElb_id 24
-#define RFArm_id 25
-#define RWrMot2_id 26
-#define Rhand_id 27
-#define LShp_id 28
-#define LShr_id 29
-#define LShy_id 30
-#define LElb_id 31
-#define LFArm_id 32
-#define LWrMot2_id 33
-#define Lhand_id 34
+#define LShp_id 25
+#define LShr_id 26
+#define LShy_id 27
+#define LElb_id 28
+#define Rope_1_id 30
+#define Rope_2_id 32
 
 
 // point
 
 #define Point_0_id 0
 #define Point_1_id 1
-#define Point_2_id 2
-#define Point_3_id 3
-#define Point_4_id 4
-#define Point_0_id 5
-#define Point_1_id 6
+#define Point_0_id 2
+#define Point_1_id 3
+#define Point_2_id 4
+#define Point_3_id 5
+#define Point_4_id 6
 #define Point_0_id 7
 #define Point_1_id 8
 #define Point_0_id 9
@@ -105,8 +99,8 @@
 #define Point_1_id 14
 #define Point_0_id 15
 #define Point_1_id 16
-#define Point_0_id 17
-#define Point_1_id 18
+#define Point_1_id 17
+#define Point_0_id 18
 #define Point_0_id 19
 #define Point_1_id 20
 #define Point_0_id 21
@@ -121,31 +115,31 @@
 #define Point_1_id 30
 #define Point_0_id 31
 #define Point_1_id 32
-#define Point_0_id 33
-#define Point_1_id 34
-#define Point_2_id 35
-#define Point_3_id 36
-#define Point_4_id 37
-#define Point_0_id 38
-#define Point_1_id 39
-#define Point_0_id 40
-#define Point_1_id 41
+#define Point_2_id 33
+#define Point_0_id 34
+#define Point_1_id 35
+#define Point_0_id 36
+#define Point_1_id 37
+#define Point_2_id 38
+#define Point_3_id 39
+#define Point_4_id 40
+#define Point_5_id 41
 #define Point_0_id 42
 #define Point_1_id 43
 #define Point_0_id 44
 #define Point_1_id 45
 #define Point_0_id 46
-#define Point_0_id 47
+#define Point_1_id 47
 #define Point_0_id 48
-#define Point_0_id 49
-#define Point_1_id 50
-#define Point_0_id 51
-#define Point_1_id 52
-#define Point_0_id 53
-#define Point_1_id 54
-#define Point_0_id 55
-#define Point_1_id 56
-#define Point_0_id 57
+#define Point_1_id 49
+#define Point_0_id 50
+#define Point_1_id 51
+#define Point_0_id 52
+#define Point_1_id 53
+#define Point_0_id 54
+#define Point_1_id 55
+#define Point_0_id 56
+#define Point_1_id 57
 #define Point_0_id 58
 #define Point_0_id 59
 
@@ -177,32 +171,33 @@
 #define LAnkJ_id 23
 #define LLowLegCg_id 24
 #define LFootmotCg_id 25
-#define LFoots_id 26
-#define Sensor_2_id 27
+#define LFootCg_id 26
+#define LFoots_id 27
 #define DWSJ_id 28
 #define DWLCg_id 29
-#define DWYJ_id 30
-#define DWSCg_id 31
-#define UpperBodyJ_id 32
-#define DWYCg_id 33
-#define RShSagJ_id 34
-#define LShSagJ_id 35
-#define RShpCg_id 36
-#define RShLatJ_id 37
-#define RShrCg_id 38
-#define RShYawJ_id 39
-#define RShyCg_id 40
-#define RElbJ_id 41
-#define RElbCg_id 42
-#define Rhand_sens_id 43
-#define LShpCg_id 44
-#define LShLatJ_id 45
-#define LShrCg_id 46
-#define LShYawJ_id 47
-#define LShyCg_id 48
-#define LElbJ_id 49
-#define LElbCg_id 50
-#define Lhand_sens_id 51
+#define LowTrunk_id 30
+#define DWYJ_id 31
+#define DWSCg_id 32
+#define UpperBodyJ_id 33
+#define DWYCg_id 34
+#define RShSagJ_id 35
+#define LShSagJ_id 36
+#define RShpCg_id 37
+#define RShLatJ_id 38
+#define RShrCg_id 39
+#define RShYawJ_id 40
+#define RShyCg_id 41
+#define RElbJ_id 42
+#define RElbCg_id 43
+#define RWrJ_id 44
+#define LShpCg_id 45
+#define LShLatJ_id 46
+#define LShrCg_id 47
+#define LShYawJ_id 48
+#define LShyCg_id 49
+#define LElbJ_id 50
+#define LElbCg_id 51
+#define LWrJ_id 52
 
 
 // extforce
@@ -210,9 +205,6 @@
 #define RFoot_force_id 1
 #define LFoot_force_id 2
 #define Force_Pert_id 3
-#define FChest_id 4
-#define RExtF_id 5
-#define LExtF_id 6
 
 
 // ============================================================ //

StandaloneC/src/project/user_files/user_compute_output.c

@@ -18,6 +18,17 @@ void user_compute_output(SimStruct *S, MBSdataStruct *MBSdata, LocalDataStruct *
 void user_compute_output(MBSdataStruct *MBSdata, LocalDataStruct *lds)
 #endif
 {
-    simu_controller_loop(MBSdata);
+	int id;
+	double omega;
+
+	// this controller stabilize the other joints
+	simu_controller_loop(MBSdata);
+
+	// id can be obtain by converting joint id defined in macro in simu_def.h
+	id = MBSdata->user_IO->real2actuated[R_KNEE_SAG];
+
+	//you can send a voltage command here
+	omega = 2 * 3.14 * 1;  // 1 Hz
+	MBSdata->user_IO->Control[id] = 50 * sin(omega * MBSdata->tsim);
 }