yezhong yezhong
1
LEG_MESSAGE/leg_message.h@3:ac1062c23c49, 2022-02-22 (annotated)
- Committer:
- yezhong
- Date:
- Tue Feb 22 14:31:06 2022 +0000
- Revision:
- 3:ac1062c23c49
- Parent:
- 0:d80c66cb1b3a
11
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| panzhan | 0:d80c66cb1b3a | 1 | #ifndef _leg_message |
| panzhan | 0:d80c66cb1b3a | 2 | #define _leg_message |
| panzhan | 0:d80c66cb1b3a | 3 | |
| panzhan | 0:d80c66cb1b3a | 4 | // 头文件 |
| panzhan | 0:d80c66cb1b3a | 5 | #include <stdint.h> |
| panzhan | 0:d80c66cb1b3a | 6 | |
| panzhan | 0:d80c66cb1b3a | 7 | // 定义结构体 |
| panzhan | 0:d80c66cb1b3a | 8 | struct joint_control{ // 关节控制结构体 |
| panzhan | 0:d80c66cb1b3a | 9 | float p_des, v_des, kp, kd, t_ff; // 控制量为: p_des, v_des, kp, kd, t_ff |
| panzhan | 0:d80c66cb1b3a | 10 | }; |
| panzhan | 0:d80c66cb1b3a | 11 | |
| panzhan | 0:d80c66cb1b3a | 12 | struct leg_control{ // 系统控制结构体 |
| panzhan | 0:d80c66cb1b3a | 13 | joint_control ankle, knee; // 控制成员: knee, ankle关节 |
| panzhan | 0:d80c66cb1b3a | 14 | }; |
| panzhan | 0:d80c66cb1b3a | 15 | |
| panzhan | 0:d80c66cb1b3a | 16 | |
| panzhan | 0:d80c66cb1b3a | 17 | struct joint_state{ // 关节状态结构体 |
| panzhan | 0:d80c66cb1b3a | 18 | float p, v, t; // 状态成员: p\v\t |
| panzhan | 0:d80c66cb1b3a | 19 | }; |
| panzhan | 0:d80c66cb1b3a | 20 | |
| panzhan | 0:d80c66cb1b3a | 21 | struct leg_state{ // 系统状态结构体 |
| panzhan | 0:d80c66cb1b3a | 22 | joint_state ankle_state, knee_state; // 状态成员: ankle_state, knee_state状态 |
| panzhan | 0:d80c66cb1b3a | 23 | }; |
| panzhan | 0:d80c66cb1b3a | 24 | |
| panzhan | 0:d80c66cb1b3a | 25 | |
| panzhan | 0:d80c66cb1b3a | 26 | //struct cal_data_t |
| panzhan | 0:d80c66cb1b3a | 27 | //{ |
| panzhan | 0:d80c66cb1b3a | 28 | // float q_pf; |
| panzhan | 0:d80c66cb1b3a | 29 | // float q_df; |
| panzhan | 0:d80c66cb1b3a | 30 | // |
| panzhan | 0:d80c66cb1b3a | 31 | // float qd_pf; |
| panzhan | 0:d80c66cb1b3a | 32 | // float qd_df; |
| panzhan | 0:d80c66cb1b3a | 33 | // |
| panzhan | 0:d80c66cb1b3a | 34 | // int32_t flag_pf; |
| panzhan | 0:d80c66cb1b3a | 35 | // int32_t flag_df; |
| panzhan | 0:d80c66cb1b3a | 36 | // //int32_t checksum; |
| panzhan | 0:d80c66cb1b3a | 37 | //}; |
| panzhan | 0:d80c66cb1b3a | 38 | // |
| panzhan | 0:d80c66cb1b3a | 39 | //struct cal_command_t |
| panzhan | 0:d80c66cb1b3a | 40 | //{ |
| panzhan | 0:d80c66cb1b3a | 41 | // float q_des_pf; |
| panzhan | 0:d80c66cb1b3a | 42 | // float q_des_df; |
| panzhan | 0:d80c66cb1b3a | 43 | // |
| panzhan | 0:d80c66cb1b3a | 44 | // float qd_des_pf; |
| panzhan | 0:d80c66cb1b3a | 45 | // float qd_des_df; |
| panzhan | 0:d80c66cb1b3a | 46 | // |
| panzhan | 0:d80c66cb1b3a | 47 | // float kp_pf; |
| panzhan | 0:d80c66cb1b3a | 48 | // float kp_df; |
| panzhan | 0:d80c66cb1b3a | 49 | // |
| panzhan | 0:d80c66cb1b3a | 50 | // float kd_pf; |
| panzhan | 0:d80c66cb1b3a | 51 | // float kd_df; |
| panzhan | 0:d80c66cb1b3a | 52 | // |
| panzhan | 0:d80c66cb1b3a | 53 | // float tau_pf_ff; |
| panzhan | 0:d80c66cb1b3a | 54 | // float tau_df_ff; |
| panzhan | 0:d80c66cb1b3a | 55 | // |
| panzhan | 0:d80c66cb1b3a | 56 | // int32_t flag; // 进入电机模式标志位 |
| panzhan | 0:d80c66cb1b3a | 57 | // //int32_t checksum; |
| panzhan | 0:d80c66cb1b3a | 58 | //}; |
| panzhan | 0:d80c66cb1b3a | 59 | |
| panzhan | 0:d80c66cb1b3a | 60 | |
| panzhan | 0:d80c66cb1b3a | 61 | #endif |