74 lines
2.2 KiB
C
74 lines
2.2 KiB
C
/*
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* 配置相关
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module/config.h"
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#include "bsp/can.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* Exported variables ------------------------------------------------------- */
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// 机器人参数配置
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Config_RobotParam_t robot_config = {
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.imu_param =
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{
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.can = BSP_CAN_2,
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.can_id = 0x6FF,
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.device_id = 0x42,
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.master_id = 0x43,
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},
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.joint_param =
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{
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{
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// 左髋关节
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.can = BSP_CAN_2,
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.motor_id = 124,
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.host_id = 0xFF,
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.module = MOTOR_LZ_RSO3,
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.reverse = false,
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.mode = MOTOR_LZ_MODE_MOTION,
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},
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{
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// 左膝关节
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.can = BSP_CAN_2,
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.motor_id = 125,
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.host_id = 0xFF,
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.module = MOTOR_LZ_RSO3,
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.reverse = false,
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.mode = MOTOR_LZ_MODE_MOTION,
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},
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{
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// 右膝关节
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.can = BSP_CAN_2,
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.motor_id = 126,
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.host_id = 0xFF,
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.module = MOTOR_LZ_RSO3,
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.reverse = true,
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.mode = MOTOR_LZ_MODE_MOTION,
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},
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{
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// 右髋关节
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.can = BSP_CAN_2,
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.motor_id = 127,
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.host_id = 0xFF,
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.module = MOTOR_LZ_RSO3,
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.reverse = true,
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.mode = MOTOR_LZ_MODE_MOTION,
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},
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},
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};
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/* Private function prototypes ---------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* @brief 获取机器人配置参数
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* @return 机器人配置参数指针
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*/
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Config_RobotParam_t *Config_GetRobotParam(void) { return &robot_config; } |