Diff: LEG_MESSAGE/leg_message.h

Revision:

0:e923de71caa5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LEG_MESSAGE/leg_message.h	Fri Jun 24 07:58:26 2022 +0000
@@ -0,0 +1,60 @@
+#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,df1;                                                       // 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,df1;                                                         // 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