40 lines
1.2 KiB
Objective-C
40 lines
1.2 KiB
Objective-C
function [] = initializeController(args)
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arguments
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args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop'
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end
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controller = struct();
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switch args.type
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case 'open-loop'
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controller.type = 1;
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controller.name = 'Open-Loop';
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case 'dvf'
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controller.type = 2;
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controller.name = 'Decentralized Direct Velocity Feedback';
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case 'iff'
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controller.type = 3;
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controller.name = 'Decentralized Integral Force Feedback';
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case 'hac-dvf'
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controller.type = 4;
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controller.name = 'HAC-DVF';
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case 'ref-track-L'
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controller.type = 5;
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controller.name = 'Reference Tracking in the frame of the legs';
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case 'ref-track-iff-L'
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controller.type = 6;
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controller.name = 'Reference Tracking in the frame of the legs + IFF';
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case 'cascade-hac-lac'
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controller.type = 7;
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controller.name = 'Cascade Control + HAC-LAC';
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case 'hac-iff'
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controller.type = 8;
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controller.name = 'HAC-IFF';
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case 'stabilizing'
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controller.type = 9;
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controller.name = 'Stabilizing Controller';
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end
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save('./mat/controller.mat', 'controller');
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