pan zhan / panzhan_main_controller_continuous

12

Dependencies:   mbed-dev_spine

LEG_MESSAGE/leg_message.h@0:dd5d4837292c, 2021-06-09 (annotated)

Committer:
panzhan
Date:
Wed Jun 09 01:41:45 2021 +0000
Revision:
0:dd5d4837292c
continuous motion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
panzhan 0:dd5d4837292c 1 #ifndef _leg_message
panzhan 0:dd5d4837292c 2 #define _leg_message
panzhan 0:dd5d4837292c 3
panzhan 0:dd5d4837292c 4 // 头文件
panzhan 0:dd5d4837292c 5 #include <stdint.h>
panzhan 0:dd5d4837292c 6
panzhan 0:dd5d4837292c 7 // 定义结构体
panzhan 0:dd5d4837292c 8 struct joint_control{ // 关节控制结构体
panzhan 0:dd5d4837292c 9 float p_des, v_des, kp, kd, t_ff; // 控制量为: p_des, v_des, kp, kd, t_ff
panzhan 0:dd5d4837292c 10 };
panzhan 0:dd5d4837292c 11
panzhan 0:dd5d4837292c 12 struct leg_control{ // 系统控制结构体
panzhan 0:dd5d4837292c 13 joint_control ankle, knee; // 控制成员: knee, ankle关节
panzhan 0:dd5d4837292c 14 };
panzhan 0:dd5d4837292c 15
panzhan 0:dd5d4837292c 16
panzhan 0:dd5d4837292c 17 struct joint_state{ // 关节状态结构体
panzhan 0:dd5d4837292c 18 float p, v, t; // 状态成员: p\v\t
panzhan 0:dd5d4837292c 19 };
panzhan 0:dd5d4837292c 20
panzhan 0:dd5d4837292c 21 struct leg_state{ // 系统状态结构体
panzhan 0:dd5d4837292c 22 joint_state ankle_state, knee_state; // 状态成员: ankle_state, knee_state状态
panzhan 0:dd5d4837292c 23 };
panzhan 0:dd5d4837292c 24
panzhan 0:dd5d4837292c 25
panzhan 0:dd5d4837292c 26 //struct cal_data_t
panzhan 0:dd5d4837292c 27 //{
panzhan 0:dd5d4837292c 28 // float q_pf;
panzhan 0:dd5d4837292c 29 // float q_df;
panzhan 0:dd5d4837292c 30 //
panzhan 0:dd5d4837292c 31 // float qd_pf;
panzhan 0:dd5d4837292c 32 // float qd_df;
panzhan 0:dd5d4837292c 33 //
panzhan 0:dd5d4837292c 34 // int32_t flag_pf;
panzhan 0:dd5d4837292c 35 // int32_t flag_df;
panzhan 0:dd5d4837292c 36 // //int32_t checksum;
panzhan 0:dd5d4837292c 37 //};
panzhan 0:dd5d4837292c 38 //
panzhan 0:dd5d4837292c 39 struct cal_command_t
panzhan 0:dd5d4837292c 40 {
panzhan 0:dd5d4837292c 41 float q_des_ankle;
panzhan 0:dd5d4837292c 42 float q_des_knee;
panzhan 0:dd5d4837292c 43
panzhan 0:dd5d4837292c 44 float qd_des_ankle;
panzhan 0:dd5d4837292c 45 float qd_des_knee;
panzhan 0:dd5d4837292c 46
panzhan 0:dd5d4837292c 47 float kp_ankle;
panzhan 0:dd5d4837292c 48 float kp_knee;
panzhan 0:dd5d4837292c 49
panzhan 0:dd5d4837292c 50 float kd_ankle;
panzhan 0:dd5d4837292c 51 float kd_knee;
panzhan 0:dd5d4837292c 52
panzhan 0:dd5d4837292c 53 float tau_ankle_ff;
panzhan 0:dd5d4837292c 54 float tau_knee_ff;
panzhan 0:dd5d4837292c 55
panzhan 0:dd5d4837292c 56 int32_t flag; // 进入电机模式标志位
panzhan 0:dd5d4837292c 57 //int32_t checksum;
panzhan 0:dd5d4837292c 58 };
panzhan 0:dd5d4837292c 59
panzhan 0:dd5d4837292c 60
panzhan 0:dd5d4837292c 61 #endif