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Diff: LEG_MESSAGE/leg_message.h
- Revision:
- 5:6a95726e45b0
- Parent:
- 3:9ef9b4c66648
- Child:
- 8:95a914f962bd
diff -r f0a4a87b6730 -r 6a95726e45b0 LEG_MESSAGE/leg_message.h --- /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