55 lines
995 B
C
55 lines
995 B
C
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//
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// Created by SJQ on 2023/12/25.
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//
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#ifndef WHEEL_LEGGED_LEG_H
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#define WHEEL_LEGGED_LEG_H
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#include "controller.h"
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typedef struct
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{
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float L0;
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float phi0;
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float phi1;
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float phi4;
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float phi2;
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float phi3;
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}Leg_State_t;
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typedef struct
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{
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float F;
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float Tp;
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}Leg_Input_t;
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typedef struct
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{
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float T1;
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float T2;
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}Leg_Output_t;
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typedef struct
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{
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Leg_State_t legState;
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Leg_Input_t legInput;
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Leg_Output_t legOutput;
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float target_L0;
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float target_phi0;
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PIDInstance Length_PID;
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PIDInstance Phi0_PID;
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}LegInstance;
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void Leg_State_update(Leg_State_t* leg_state, float phi1,float phi4);
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void Leg_calc_output(Leg_State_t* leg_state,Leg_Input_t* leg_input,Leg_Output_t* leg_output);
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void Leg_Input_update(Leg_Input_t* leg_Input, float F,float Tp);
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void Leg_Init(LegInstance* legInstance,PID_Init_Config_s lengthConfig,PID_Init_Config_s phiConfig);
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void Leg_length_control_loop(LegInstance* legInstance);
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#endif //WHEEL_LEGGED_LEG_H
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