Differences
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| Both sides previous revisionPrevious revision | |||
| project_lyta_control_logic_notes [2007-06-18 12:59] – nik | project_lyta_control_logic_notes [2017-01-28 05:33] (current) – [run loop] 193.180.119.2 | ||
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| - | for each pair read FSR value if value is higher than threshold, wake up //otherwise, set muscle output to 0 (if it isn't already). | + | for each pair read FSR value if value is higher than threshold, wake up / otherwise, set muscle output to 0 (if it isn't already). |
| ==== calculating delta: ==== | ==== calculating delta: ==== | ||
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| - | Mx==0 is maximum extension | + | Mx'' |
| - | Mx==1 is maximum retraction | + | Mx'' |
| - | Fx==0 is no force | + | Fx'' |
| - | Fx==1 is maxumum force | + | Fx'' |
| Line 56: | Line 56: | ||
| - | d1 = (F1-F2) | + | d1 = (F1-F2) // increase M1 (back off) proportionally if F1 is greater than F2 // |
| - | // increase M1 (back off) proportionally if F1 is greater than F2 | + | |
| - | d2 = (0.5-M1) | + | d2 = (0.5-M1) // increase M1 proportionally if M1 is less than 0.5 // |
| - | // increase M1 proportionally if M1 is less than 0.5 | + | |
| - | d3 = ((1-M2)-M1) | + | d3 = ((1-M2)-M1) // increase M1 proportionally if M1 is less than 1-M2 // |
| - | // increase M1 proportionally if M1 is less than 1-M2 | + | |
| - | the three delta components are multipled | + | the three delta components are multiplied |
| * M1 = M1 + (d1*c1 + d2*c2 + d3*c3) | * M1 = M1 + (d1*c1 + d2*c2 + d3*c3) | ||