the first part is based on the principle analysis of the dsp locomotion controller. in this part the realizing method of the locomotion control and the pid parameter adjustment are introduced.
第一部分是基于dsp的运动控制板的原理分析、实现运动控制的方法、以及pid参数的整定;
the upper control computer realizes the monitor of the system, locomotion control arithmetic, and human-computer interaction.