Aditya Mehrotra
test code for SPI communications with any board
Diff: leg_message.h
- Revision:
- 12:b203f3ae57d0
- Parent:
- 11:f3f01f363dd1
- Child:
- 15:d3c93f01a02b
--- a/leg_message.h Tue May 11 20:17:48 2021 +0000
+++ b/leg_message.h Wed May 12 15:11:14 2021 +0000
@@ -3,8 +3,8 @@
#include <stdint.h>
-// 124 bytes
-// 62 16-bit words
+// 36 bytes
+// 18 16-bit words
struct spi_data_t
{
float q_1s[2];
@@ -14,7 +14,8 @@
int32_t checksum;
};
-// 196 bytes
+// 52 bytes
+// 26 16-bit words
struct spi_command_t
{
float q_des_1s[2]; //first motor on each can bus 0-can1, 1-can2, 2-can3
@@ -37,10 +38,10 @@
};
struct grouped_act_state{
- joint_state a1, a2, a3;
+ joint_state a1; //removed a2 and a3
};
struct grouped_act_control{
- joint_control a1, a2, a3;
+ joint_control a1;
}
;
#endif
\ No newline at end of file