Attachment Controller

The attachment controller determines position deltas, and thus velocities, for each limb assuming that limb is trying to attach. It is up to the higher level controller to choose a delta for each motor from the correct controller.

The controller operates in four distinct phases. In the first phase, the wing motor has a target position given by W_nom, the stroke has a target force of 0, and the foot motor holds its position. Once the wing motor reaches its position target, the controller enters phase two.

In phase two the wing motor has a position target given by W_load, the stroke still has a target force of 0, and the foot motor has a target position given by F_down. Once both the wing and foot have reached their position targets, the controller enters phase three.

In phase three the wing and foot both hold their positions and the stroke motor has a target force given by f_des. Once the limb is taking at least that force, the controller enteres phase four.

In phase four, the foot holds its position, the stroke continues with a target force of f_des, and the wing has a target position given by W_nom.

Stroke Motor Control

The stroke motor is force controlled, where it is given a desired force, f_des, and a proportional gain of K_stroke.

Foot and Wing Control

The foot and wing motors are controlled by either holding a position or giving a target position. When a target position is specified, the motor moves towards that target at a maximum speed of v_foot and v_wing, for the foot and wing motors respectively.

-- BarrettHeyneman - 08 Aug 2006