N/A
leg_message.h@1:b0bdde8aa220, 2021-03-09 (annotated)
- Committer:
- adimmit
- Date:
- Tue Mar 09 20:37:49 2021 +0000
- Revision:
- 1:b0bdde8aa220
- Parent:
- 0:a043c98470ae
added support for CAN3 fixed MBED library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
adimmit | 0:a043c98470ae | 1 | #ifndef _leg_message |
adimmit | 0:a043c98470ae | 2 | #define _leg_message |
adimmit | 0:a043c98470ae | 3 | |
adimmit | 0:a043c98470ae | 4 | #include <stdint.h> |
adimmit | 0:a043c98470ae | 5 | |
adimmit | 0:a043c98470ae | 6 | // 60 bytes |
adimmit | 0:a043c98470ae | 7 | // 30 16-bit words |
adimmit | 0:a043c98470ae | 8 | struct spi_data_t |
adimmit | 0:a043c98470ae | 9 | { |
adimmit | 0:a043c98470ae | 10 | float q_abad[2]; |
adimmit | 0:a043c98470ae | 11 | float q_hip[2]; |
adimmit | 0:a043c98470ae | 12 | float q_knee[2]; |
adimmit | 0:a043c98470ae | 13 | float qd_abad[2]; |
adimmit | 0:a043c98470ae | 14 | float qd_hip[2]; |
adimmit | 0:a043c98470ae | 15 | float qd_knee[2]; |
adimmit | 0:a043c98470ae | 16 | int32_t flags[2]; |
adimmit | 0:a043c98470ae | 17 | int32_t checksum; |
adimmit | 0:a043c98470ae | 18 | }; |
adimmit | 0:a043c98470ae | 19 | |
adimmit | 0:a043c98470ae | 20 | // 132 bytes |
adimmit | 0:a043c98470ae | 21 | // 66 16-bit words |
adimmit | 0:a043c98470ae | 22 | struct spi_command_t |
adimmit | 0:a043c98470ae | 23 | { |
adimmit | 0:a043c98470ae | 24 | float q_des_abad[2]; |
adimmit | 0:a043c98470ae | 25 | float q_des_hip[2]; |
adimmit | 0:a043c98470ae | 26 | float q_des_knee[2]; |
adimmit | 0:a043c98470ae | 27 | float qd_des_abad[2]; |
adimmit | 0:a043c98470ae | 28 | float qd_des_hip[2]; |
adimmit | 0:a043c98470ae | 29 | float qd_des_knee[2]; |
adimmit | 0:a043c98470ae | 30 | float kp_abad[2]; |
adimmit | 0:a043c98470ae | 31 | float kp_hip[2]; |
adimmit | 0:a043c98470ae | 32 | float kp_knee[2]; |
adimmit | 0:a043c98470ae | 33 | float kd_abad[2]; |
adimmit | 0:a043c98470ae | 34 | float kd_hip[2]; |
adimmit | 0:a043c98470ae | 35 | float kd_knee[2]; |
adimmit | 0:a043c98470ae | 36 | float tau_abad_ff[2]; |
adimmit | 0:a043c98470ae | 37 | float tau_hip_ff[2]; |
adimmit | 0:a043c98470ae | 38 | float tau_knee_ff[2]; |
adimmit | 0:a043c98470ae | 39 | int32_t flags[2]; |
adimmit | 0:a043c98470ae | 40 | int32_t checksum; |
adimmit | 0:a043c98470ae | 41 | }; |
adimmit | 0:a043c98470ae | 42 | |
adimmit | 0:a043c98470ae | 43 | |
adimmit | 0:a043c98470ae | 44 | |
adimmit | 0:a043c98470ae | 45 | struct joint_control{ |
adimmit | 0:a043c98470ae | 46 | float p_des, v_des, kp, kd, t_ff; |
adimmit | 0:a043c98470ae | 47 | }; |
adimmit | 0:a043c98470ae | 48 | |
adimmit | 0:a043c98470ae | 49 | struct joint_state{ |
adimmit | 0:a043c98470ae | 50 | float p, v, t; |
adimmit | 0:a043c98470ae | 51 | }; |
adimmit | 0:a043c98470ae | 52 | |
adimmit | 0:a043c98470ae | 53 | struct leg_state{ |
adimmit | 0:a043c98470ae | 54 | joint_state a, h, k; |
adimmit | 0:a043c98470ae | 55 | }; |
adimmit | 0:a043c98470ae | 56 | struct leg_control{ |
adimmit | 0:a043c98470ae | 57 | joint_control a, h, k; |
adimmit | 0:a043c98470ae | 58 | } |
adimmit | 0:a043c98470ae | 59 | ; |
adimmit | 0:a043c98470ae | 60 | #endif |