yezhong yezhong
/
yezhong_main_controller_copy_
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Dependencies: mcp2515 mbed-dev-f303
Diff: LEG_MESSAGE/leg_message.h
- Revision:
- 2:cd74a8cb03b0
- Parent:
- 0:d80c66cb1b3a
- Child:
- 4:2503c88a564f
diff -r a71791b81b8a -r cd74a8cb03b0 LEG_MESSAGE/leg_message.h
--- 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
};