Diff: LEG_MESSAGE/leg_message.h

Revision:

2:cd74a8cb03b0

Parent:

0:d80c66cb1b3a

--- a/LEG_MESSAGE/leg_message.h	Tue Nov 17 11:32:58 2020 +0000
+++ b/LEG_MESSAGE/leg_message.h	Thu Nov 19 07:59:28 2020 +0000
@@ -8,18 +8,17 @@
 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 leg_control{                                                             // 系统控制结构体
-    joint_control ankle, knee;                                                  // 控制成员: knee, ankle关节
+    
+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 leg_state{                                                               // 系统状态结构体
-    joint_state ankle_state, knee_state;                                        // 状态成员: ankle_state, knee_state状态
+struct ankle_state{                                                             // 系统状态结构体
+    joint_state pf, df;                                                         // 状态成员: pf, df状态
     };