MCP_SPIne
leg_message.h
- Committer:
- benkatz
- Date:
- 2018-05-02
- Revision:
- 3:9ef9b4c66648
File content as of revision 3:9ef9b4c66648:
#ifndef _leg_message #define _leg_message #include <stdint.h> // 60 bytes // 30 16-bit words struct spi_data_t { float q_abad[2]; float q_hip[2]; float q_knee[2]; float qd_abad[2]; float qd_hip[2]; float qd_knee[2]; int32_t flags[2]; int32_t checksum; }; // 132 bytes // 66 16-bit words struct spi_command_t { float q_des_abad[2]; float q_des_hip[2]; float q_des_knee[2]; float qd_des_abad[2]; float qd_des_hip[2]; float qd_des_knee[2]; float kp_abad[2]; float kp_hip[2]; float kp_knee[2]; float kd_abad[2]; float kd_hip[2]; float kd_knee[2]; float tau_abad_ff[2]; float tau_hip_ff[2]; float tau_knee_ff[2]; int32_t flags[2]; int32_t checksum; }; struct joint_control{ float p_des, v_des, kp, kd, t_ff; }; struct joint_state{ float p, v, t; }; struct leg_state{ joint_state a, h, k; }; struct leg_control{ joint_control a, h, k; } ; #endif