Aditya Mehrotra / SPIne_Plus_DYNO

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Dependencies:   mbed-dev

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