TuxMonkey/bf_original_balance_chassis
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关节电机measure

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TuxMonkey
2026-07-15 21:59:50 +08:00
parent 52813f45d2
commit ae8f1725b1
6 changed files with 227 additions and 19 deletions
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38
application/chassis/balance.h
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@@ -38,6 +38,44 @@
#define LD 0u
#define RD 1u
typedef struct
{
uint8_t expected_motor_id;
uint8_t feedback_motor_id;
uint8_t state;
uint8_t received;
uint8_t online;
uint8_t id_matches;
uint8_t feedback_can_id_matches;
uint8_t reserved;
uint32_t expected_feedback_can_id;
uint32_t feedback_can_id;
uint32_t feedback_count;
float position_rad;
float velocity_rad_s;
float torque;
float mos_temperature_c;
float rotor_temperature_c;
} JointMotorRxDebug_s;
typedef struct
{
uint8_t rx_only;
uint8_t all_received;
uint8_t all_online;
uint8_t all_ids_match;
uint8_t all_feedback_can_ids_match;
uint8_t reserved[3];
uint32_t disable_probe_count;
uint32_t disable_probe_fail_count;
JointMotorRxDebug_s left_front;
JointMotorRxDebug_s left_back;
JointMotorRxDebug_s right_front;
JointMotorRxDebug_s right_back;
} JointMotorRxOnlyDebug_s;
extern volatile JointMotorRxOnlyDebug_s joint_rx_debug;
typedef struct
{
// joint