yezhong yezhong
1233
Dependencies: cJSON_lib mcp2515- mbed-dev-f303 esp8266 yezhong_main_controller_copy_3
LEG_MESSAGE/leg_message.h@0:e923de71caa5, 2022-06-24 (annotated)
- Committer:
- yezhong
- Date:
- Fri Jun 24 07:58:26 2022 +0000
- Revision:
- 0:e923de71caa5
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Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| yezhong | 0:e923de71caa5 | 1 | #ifndef _leg_message |
| yezhong | 0:e923de71caa5 | 2 | #define _leg_message |
| yezhong | 0:e923de71caa5 | 3 | |
| yezhong | 0:e923de71caa5 | 4 | // 头文件 |
| yezhong | 0:e923de71caa5 | 5 | #include <stdint.h> |
| yezhong | 0:e923de71caa5 | 6 | |
| yezhong | 0:e923de71caa5 | 7 | // 定义结构体 |
| yezhong | 0:e923de71caa5 | 8 | struct joint_control{ // 关节控制结构体 |
| yezhong | 0:e923de71caa5 | 9 | float p_des, v_des, kp, kd, t_ff; // 控制量为: p_des, v_des, kp, kd, t_ff |
| yezhong | 0:e923de71caa5 | 10 | }; |
| yezhong | 0:e923de71caa5 | 11 | |
| yezhong | 0:e923de71caa5 | 12 | struct ankle_control{ // 系统控制结构体 |
| yezhong | 0:e923de71caa5 | 13 | joint_control pf, df,df1; // 控制成员: pf, df关节 |
| yezhong | 0:e923de71caa5 | 14 | }; |
| yezhong | 0:e923de71caa5 | 15 | |
| yezhong | 0:e923de71caa5 | 16 | struct joint_state{ // 关节状态结构体 |
| yezhong | 0:e923de71caa5 | 17 | float p, v, t; // 状态成员: p\v\t |
| yezhong | 0:e923de71caa5 | 18 | }; |
| yezhong | 0:e923de71caa5 | 19 | |
| yezhong | 0:e923de71caa5 | 20 | struct ankle_state{ // 系统状态结构体 |
| yezhong | 0:e923de71caa5 | 21 | joint_state pf, df,df1; // 状态成员: pf, df状态 |
| yezhong | 0:e923de71caa5 | 22 | }; |
| yezhong | 0:e923de71caa5 | 23 | |
| yezhong | 0:e923de71caa5 | 24 | |
| yezhong | 0:e923de71caa5 | 25 | //struct cal_data_t |
| yezhong | 0:e923de71caa5 | 26 | //{ |
| yezhong | 0:e923de71caa5 | 27 | // float q_pf; |
| yezhong | 0:e923de71caa5 | 28 | // float q_df; |
| yezhong | 0:e923de71caa5 | 29 | // |
| yezhong | 0:e923de71caa5 | 30 | // float qd_pf; |
| yezhong | 0:e923de71caa5 | 31 | // float qd_df; |
| yezhong | 0:e923de71caa5 | 32 | // |
| yezhong | 0:e923de71caa5 | 33 | // int32_t flag_pf; |
| yezhong | 0:e923de71caa5 | 34 | // int32_t flag_df; |
| yezhong | 0:e923de71caa5 | 35 | // //int32_t checksum; |
| yezhong | 0:e923de71caa5 | 36 | //}; |
| yezhong | 0:e923de71caa5 | 37 | // |
| yezhong | 0:e923de71caa5 | 38 | //struct cal_command_t |
| yezhong | 0:e923de71caa5 | 39 | //{ |
| yezhong | 0:e923de71caa5 | 40 | // float q_des_pf; |
| yezhong | 0:e923de71caa5 | 41 | // float q_des_df; |
| yezhong | 0:e923de71caa5 | 42 | // |
| yezhong | 0:e923de71caa5 | 43 | // float qd_des_pf; |
| yezhong | 0:e923de71caa5 | 44 | // float qd_des_df; |
| yezhong | 0:e923de71caa5 | 45 | // |
| yezhong | 0:e923de71caa5 | 46 | // float kp_pf; |
| yezhong | 0:e923de71caa5 | 47 | // float kp_df; |
| yezhong | 0:e923de71caa5 | 48 | // |
| yezhong | 0:e923de71caa5 | 49 | // float kd_pf; |
| yezhong | 0:e923de71caa5 | 50 | // float kd_df; |
| yezhong | 0:e923de71caa5 | 51 | // |
| yezhong | 0:e923de71caa5 | 52 | // float tau_pf_ff; |
| yezhong | 0:e923de71caa5 | 53 | // float tau_df_ff; |
| yezhong | 0:e923de71caa5 | 54 | // |
| yezhong | 0:e923de71caa5 | 55 | // int32_t flag; // 进入电机模式标志位 |
| yezhong | 0:e923de71caa5 | 56 | // //int32_t checksum; |
| yezhong | 0:e923de71caa5 | 57 | //}; |
| yezhong | 0:e923de71caa5 | 58 | |
| yezhong | 0:e923de71caa5 | 59 | |
| yezhong | 0:e923de71caa5 | 60 | #endif |