Aditya Mehrotra / SPIne_Plus_DYNO

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Dependencies:   mbed-dev

Diff: leg_message.h

Revision:
10:42438194e82b
Parent:
5:f1703165ca7e
Child:
11:f3f01f363dd1
--- a/leg_message.h	Fri Apr 09 20:41:24 2021 +0000
+++ b/leg_message.h	Tue Apr 13 19:11:12 2021 +0000
@@ -3,8 +3,8 @@
 
 #include <stdint.h>
 
-// 88 bytes
-// 44 16-bit words
+// 124 bytes
+// 62 16-bit words
 struct spi_data_t
 {
     float q_1s[3];
@@ -13,12 +13,14 @@
     float qd_1s[3];
     float qd_2s[3];
     float qd_3s[3];
+    float tau_1s[3];
+    float tau_2s[3];
+    float tau_3s[3];
     int32_t flags[3];
     int32_t checksum;
 };
 
 // 196 bytes
-// 98 16-bit words
 struct spi_command_t
 {
     float q_des_1s[3]; //first motor on each can bus 0-can1, 1-can2, 2-can3