Diff: leg_message.h

Revision:

0:76c761d3caf1

Child:

5:f1703165ca7e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/leg_message.h	Sat Mar 20 18:38:51 2021 +0000
@@ -0,0 +1,60 @@
+#ifndef _leg_message
+#define _leg_message
+
+#include <stdint.h>
+
+// 88 bytes
+// 44 16-bit words
+struct spi_data_t
+{
+    float q_1s[3];
+    float q_2s[3];
+    float q_3s[3];
+    float qd_1s[3];
+    float qd_2s[3];
+    float qd_3s[3];
+    int32_t flags[3];
+    int32_t checksum;
+};
+
+// 196 bytes
+// 98 16-bit words
+struct spi_command_t
+{
+    float q_des_1s[3];
+    float q_des_2s[3];
+    float q_des_3s[3];
+    float qd_des_1s[3];
+    float qd_des_2s[3];
+    float qd_des_3s[3];
+    float kp_1s[3];
+    float kp_2s[3];
+    float kp_3s[3];
+    float kd_1s[3];
+    float kd_2s[3];
+    float kd_3s[3];
+    float tau_1s_ff[3];
+    float tau_2s_ff[3];
+    float tau_3s_ff[3];
+    int32_t flags[3];
+    int32_t checksum;
+};
+
+
+
+struct joint_control{
+    float p_des, v_des, kp, kd, t_ff;
+    };
+    
+struct joint_state{
+    float p, v, t;
+    };
+    
+struct grouped_act_state{
+    joint_state a, h, k;
+    };
+struct grouped_act_control{
+    joint_control a, h, k;
+    }
+    ;
+#endif
\ No newline at end of file