Aditya Mehrotra / SPIne_Plus_DYNO

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Dependencies:   mbed-dev

leg_message.h@11:f3f01f363dd1, 2021-05-11 (annotated)

Committer:
adimmit
Date:
Tue May 11 20:17:48 2021 +0000
Revision:
11:f3f01f363dd1
Parent:
10:42438194e82b
Child:
12:b203f3ae57d0
started changing things;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adimmit 0:76c761d3caf1 1 #ifndef _leg_message
adimmit 0:76c761d3caf1 2 #define _leg_message
adimmit 0:76c761d3caf1 3
adimmit 0:76c761d3caf1 4 #include <stdint.h>
adimmit 0:76c761d3caf1 5
adimmit 10:42438194e82b 6 // 124 bytes
adimmit 10:42438194e82b 7 // 62 16-bit words
adimmit 0:76c761d3caf1 8 struct spi_data_t
adimmit 0:76c761d3caf1 9 {
adimmit 11:f3f01f363dd1 10 float q_1s[2];
adimmit 11:f3f01f363dd1 11 float qd_1s[2];
adimmit 11:f3f01f363dd1 12 float tau_1s[2];
adimmit 11:f3f01f363dd1 13 int32_t flags[2];
adimmit 0:76c761d3caf1 14 int32_t checksum;
adimmit 0:76c761d3caf1 15 };
adimmit 0:76c761d3caf1 16
adimmit 0:76c761d3caf1 17 // 196 bytes
adimmit 0:76c761d3caf1 18 struct spi_command_t
adimmit 0:76c761d3caf1 19 {
adimmit 11:f3f01f363dd1 20 float q_des_1s[2]; //first motor on each can bus 0-can1, 1-can2, 2-can3
adimmit 11:f3f01f363dd1 21 float qd_des_1s[2];
adimmit 11:f3f01f363dd1 22 float kp_1s[2];
adimmit 11:f3f01f363dd1 23 float kd_1s[2];
adimmit 11:f3f01f363dd1 24 float tau_1s_ff[2];
adimmit 11:f3f01f363dd1 25 int32_t flags[2];
adimmit 0:76c761d3caf1 26 int32_t checksum;
adimmit 0:76c761d3caf1 27 };
adimmit 0:76c761d3caf1 28
adimmit 0:76c761d3caf1 29
adimmit 0:76c761d3caf1 30
adimmit 0:76c761d3caf1 31 struct joint_control{
adimmit 0:76c761d3caf1 32 float p_des, v_des, kp, kd, t_ff;
adimmit 0:76c761d3caf1 33 };
adimmit 0:76c761d3caf1 34
adimmit 0:76c761d3caf1 35 struct joint_state{
adimmit 0:76c761d3caf1 36 float p, v, t;
adimmit 0:76c761d3caf1 37 };
adimmit 0:76c761d3caf1 38
adimmit 0:76c761d3caf1 39 struct grouped_act_state{
adimmit 5:f1703165ca7e 40 joint_state a1, a2, a3;
adimmit 0:76c761d3caf1 41 };
adimmit 0:76c761d3caf1 42 struct grouped_act_control{
adimmit 5:f1703165ca7e 43 joint_control a1, a2, a3;
adimmit 0:76c761d3caf1 44 }
adimmit 0:76c761d3caf1 45 ;
adimmit 0:76c761d3caf1 46 #endif