Gan likun / yezhong_main_controller_copy001

111

Dependencies:   yezhong_main_controller_copy mbed1-dev

LEG_MESSAGE/leg_message.h@9:c082f1c52936, 2022-07-07 (annotated)

Committer:
ganlikun
Date:
Thu Jul 07 11:38:10 2022 +0000
Revision:
9:c082f1c52936
Parent:
2:cd74a8cb03b0 
112

Who changed what in which revision?

UserRevisionLine numberNew contents of line
panzhan 0:d80c66cb1b3a 1 #ifndef _leg_message
panzhan 0:d80c66cb1b3a 2 #define _leg_message
panzhan 0:d80c66cb1b3a 3
panzhan 0:d80c66cb1b3a 4 // 头文件
panzhan 0:d80c66cb1b3a 5 #include <stdint.h>
panzhan 0:d80c66cb1b3a 6
panzhan 0:d80c66cb1b3a 7 // 定义结构体
panzhan 0:d80c66cb1b3a 8 struct joint_control{ // 关节控制结构体
panzhan 0:d80c66cb1b3a 9 float p_des, v_des, kp, kd, t_ff; // 控制量为: p_des, v_des, kp, kd, t_ff
panzhan 0:d80c66cb1b3a 10 };
yezhong 2:cd74a8cb03b0 11
yezhong 2:cd74a8cb03b0 12 struct ankle_control{ // 系统控制结构体
yezhong 2:cd74a8cb03b0 13 joint_control pf, df; // 控制成员: pf, df关节
panzhan 0:d80c66cb1b3a 14 };
yezhong 2:cd74a8cb03b0 15
panzhan 0:d80c66cb1b3a 16 struct joint_state{ // 关节状态结构体
panzhan 0:d80c66cb1b3a 17 float p, v, t; // 状态成员: p\v\t
panzhan 0:d80c66cb1b3a 18 };
panzhan 0:d80c66cb1b3a 19
yezhong 2:cd74a8cb03b0 20 struct ankle_state{ // 系统状态结构体
yezhong 2:cd74a8cb03b0 21 joint_state pf, df; // 状态成员: pf, df状态
panzhan 0:d80c66cb1b3a 22 };
panzhan 0:d80c66cb1b3a 23
panzhan 0:d80c66cb1b3a 24
ganlikun 9:c082f1c52936 25
ganlikun 9:c082f1c52936 26
panzhan 0:d80c66cb1b3a 27
panzhan 0:d80c66cb1b3a 28
panzhan 0:d80c66cb1b3a 29 #endif