test code for SPI communications with any board
Diff: leg_message.h
- Revision:
- 5:f1703165ca7e
- Parent:
- 0:76c761d3caf1
- Child:
- 10:42438194e82b
--- a/leg_message.h Thu Apr 01 17:53:19 2021 +0000 +++ b/leg_message.h Thu Apr 01 21:28:37 2021 +0000 @@ -21,9 +21,9 @@ // 98 16-bit words struct spi_command_t { - float q_des_1s[3]; - float q_des_2s[3]; - float q_des_3s[3]; + float q_des_1s[3]; //first motor on each can bus 0-can1, 1-can2, 2-can3 + float q_des_2s[3]; //second motor on each can bus + float q_des_3s[3]; //third motor on each can bus etc... float qd_des_1s[3]; float qd_des_2s[3]; float qd_des_3s[3]; @@ -51,10 +51,10 @@ }; struct grouped_act_state{ - joint_state a, h, k; + joint_state a1, a2, a3; }; struct grouped_act_control{ - joint_control a, h, k; + joint_control a1, a2, a3; } ; #endif \ No newline at end of file