This repo contains the source code for the example compiled controllers shipped with the opensourceleg library. You can install the opensourceleg library using pip install opensourceleg and you can see the examples in the opensourceleg respository. The library works with any external compiled library that has a C style function of the form my_function(Inputs* inputs, Outputs* outputs), where Inputs and Outputs can be arbitrary datatypes.
We provide the source code for a standard finite state machine walking controller in two languages (C++ and MATLAB). The state machine has four states, two for stance and two for swing. Constant impedance parameters for each joint and state can be tuned to give the desired walking gait. The controller also has tunable transition parameters to allow timing flexibility for different tasks.
Please reference the readmes for each implementation for more information and compilation instructions:
Other example controllers may be added to this repository in the future. Check back often!