Detachment Controller

The Detachment Controller determines position deltas for all servos assuming that all the legs are trying to detach. It is up to the higher level controller to choose between deltas from the different sub controllers for each servo.

Stroke Motor Control

The stroke motor is commanded to move such that it will try to achieve a desired load force, f_des on the limb (that desired load force should in practice be somewhere around 0).

The movement delta, or stroke velocity, is determined by multiplying the difference between the actual force on the limb, f, and the desired force, f_des, by the stroke gain, K_stroke.

Wing Motor Control

For the time being, without wing force sensing, the wing will be lifted at a maximun speed of v_wing until it reaches the wing up position, W_up. The wing will not start lifting until the force on the limb is less than a threshold force, f_thresh (in practice this should be somewhat higher than f_des from the stroke motor control).

Foot Motor Control

The foot control is almost identical to the wing control, in that the foot will be curled at a maximum speed of v_foot until it reaches the foot up position, F_up. As with the wing, the foot will not start lifting until the force in the limb is less than f_thresh.

-- BarrettHeyneman - 08 Aug 2006