chen xin / CH_Communicatuin_Test2

1

LEG_MESSAGE/leg_message.h@8:95a914f962bd, 2020-01-07 (annotated)

Committer:
shaorui
Date:
Tue Jan 07 09:23:24 2020 +0000
Revision:
8:95a914f962bd
Parent:
5:6a95726e45b0
Child:
10:f94e325fc1e6
1234

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 3:9ef9b4c66648 1 #ifndef _leg_message
benkatz 3:9ef9b4c66648 2 #define _leg_message
benkatz 3:9ef9b4c66648 3
WXD 5:6a95726e45b0 4
WXD 5:6a95726e45b0 5 // 头文件
benkatz 3:9ef9b4c66648 6 #include <stdint.h>
benkatz 3:9ef9b4c66648 7
WXD 5:6a95726e45b0 8
WXD 5:6a95726e45b0 9 // 定义结构体
WXD 5:6a95726e45b0 10 struct joint_control{ // 关节控制结构体
shaorui 8:95a914f962bd 11 float p_des, v_des, kp, kd, t_ff,pp; // 控制量为: p_des, v_des, kp, kd, t_ff
WXD 5:6a95726e45b0 12 };
WXD 5:6a95726e45b0 13
WXD 5:6a95726e45b0 14 struct ankle_control{ // 系统控制结构体
shaorui 8:95a914f962bd 15 joint_control ef, wf; // 控制成员: ef:肘关节 wf:腕关节
WXD 5:6a95726e45b0 16 };
WXD 5:6a95726e45b0 17
WXD 5:6a95726e45b0 18 struct joint_state{ // 关节状态结构体
WXD 5:6a95726e45b0 19 float p, v, t; // 状态成员: p\v\t
WXD 5:6a95726e45b0 20 };
WXD 5:6a95726e45b0 21
WXD 5:6a95726e45b0 22 struct ankle_state{ // 系统状态结构体
shaorui 8:95a914f962bd 23 joint_state ef, wf; // 状态成员: pf, df状态
WXD 5:6a95726e45b0 24 };
shaorui 8:95a914f962bd 25 /*
WXD 5:6a95726e45b0 26 struct cal_data_t
benkatz 3:9ef9b4c66648 27 {
WXD 5:6a95726e45b0 28 float q_pf;
WXD 5:6a95726e45b0 29 float q_df;
WXD 5:6a95726e45b0 30
WXD 5:6a95726e45b0 31 float qd_pf;
WXD 5:6a95726e45b0 32 float qd_df;
WXD 5:6a95726e45b0 33
WXD 5:6a95726e45b0 34 int32_t flag_pf;
WXD 5:6a95726e45b0 35 int32_t flag_df;
WXD 5:6a95726e45b0 36 //int32_t checksum;
benkatz 3:9ef9b4c66648 37 };
benkatz 3:9ef9b4c66648 38
WXD 5:6a95726e45b0 39 struct cal_command_t
benkatz 3:9ef9b4c66648 40 {
WXD 5:6a95726e45b0 41 float q_des_pf;
WXD 5:6a95726e45b0 42 float q_des_df;
WXD 5:6a95726e45b0 43
WXD 5:6a95726e45b0 44 float qd_des_pf;
WXD 5:6a95726e45b0 45 float qd_des_df;
WXD 5:6a95726e45b0 46
WXD 5:6a95726e45b0 47 float kp_pf;
WXD 5:6a95726e45b0 48 float kp_df;
WXD 5:6a95726e45b0 49
WXD 5:6a95726e45b0 50 float kd_pf;
WXD 5:6a95726e45b0 51 float kd_df;
WXD 5:6a95726e45b0 52
WXD 5:6a95726e45b0 53 float tau_pf_ff;
WXD 5:6a95726e45b0 54 float tau_df_ff;
WXD 5:6a95726e45b0 55
WXD 5:6a95726e45b0 56 int32_t flag; // 进入电机模式标志位
WXD 5:6a95726e45b0 57 //int32_t checksum;
benkatz 3:9ef9b4c66648 58 };
benkatz 3:9ef9b4c66648 59
shaorui 8:95a914f962bd 60 */
benkatz 3:9ef9b4c66648 61
WXD 5:6a95726e45b0 62
WXD 5:6a95726e45b0 63
WXD 5:6a95726e45b0 64
WXD 5:6a95726e45b0 65
WXD 5:6a95726e45b0 66
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WXD 5:6a95726e45b0 69
WXD 5:6a95726e45b0 70
WXD 5:6a95726e45b0 71
benkatz 3:9ef9b4c66648 72 #endif