Diff: LEG_MESSAGE/leg_message.h

Revision:

5:6a95726e45b0

Parent:

3:9ef9b4c66648

Child:

8:95a914f962bd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LEG_MESSAGE/leg_message.h	Tue Oct 08 04:35:23 2019 +0000
@@ -0,0 +1,72 @@
+#ifndef _leg_message
+#define _leg_message
+
+
+// 头文件
+#include <stdint.h>
+
+
+// 定义结构体
+struct joint_control{                                                           // 关节控制结构体
+    float p_des, v_des, kp, kd, t_ff;                                           // 控制量为: p_des, v_des, kp, kd, t_ff
+    };
+    
+struct ankle_control{                                                           // 系统控制结构体
+    joint_control pf, df;                                                       // 控制成员: pf, df关节
+    };
+
+struct joint_state{                                                             // 关节状态结构体
+    float p, v, t;                                                              // 状态成员:  p\v\t
+    };
+    
+struct ankle_state{                                                             // 系统状态结构体
+    joint_state pf, df;                                                         // 状态成员: pf, df状态
+    };
+
+struct cal_data_t
+{
+    float q_pf;
+    float q_df;
+
+    float qd_pf;
+    float qd_df;
+
+    int32_t flag_pf;
+    int32_t flag_df;
+    //int32_t checksum;
+};
+
+struct cal_command_t
+{
+    float q_des_pf;
+    float q_des_df;
+
+    float qd_des_pf;
+    float qd_des_df;
+
+    float kp_pf;
+    float kp_df;
+
+    float kd_pf;
+    float kd_df;
+
+    float tau_pf_ff;
+    float tau_df_ff;
+
+    int32_t flag;                                                               // 进入电机模式标志位
+    //int32_t checksum;
+};
+
+
+
+
+
+
+
+
+
+
+
+
+
+#endif
\ No newline at end of file