Aditya Mehrotra / SPIne_Plus_DYNO

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Dependencies:   mbed-dev

leg_message.h

Committer:
adimmit
Date:
2021-03-20
Revision:
0:76c761d3caf1
Child:
5:f1703165ca7e

File content as of revision 0:76c761d3caf1:

#ifndef _leg_message
#define _leg_message

#include <stdint.h>

// 88 bytes
// 44 16-bit words
struct spi_data_t
{
    float q_1s[3];
    float q_2s[3];
    float q_3s[3];
    float qd_1s[3];
    float qd_2s[3];
    float qd_3s[3];
    int32_t flags[3];
    int32_t checksum;
};

// 196 bytes
// 98 16-bit words
struct spi_command_t
{
    float q_des_1s[3];
    float q_des_2s[3];
    float q_des_3s[3];
    float qd_des_1s[3];
    float qd_des_2s[3];
    float qd_des_3s[3];
    float kp_1s[3];
    float kp_2s[3];
    float kp_3s[3];
    float kd_1s[3];
    float kd_2s[3];
    float kd_3s[3];
    float tau_1s_ff[3];
    float tau_2s_ff[3];
    float tau_3s_ff[3];
    int32_t flags[3];
    int32_t checksum;
};



struct joint_control{
    float p_des, v_des, kp, kd, t_ff;
    };
    
struct joint_state{
    float p, v, t;
    };
    
struct grouped_act_state{
    joint_state a, h, k;
    };
struct grouped_act_control{
    joint_control a, h, k;
    }
    ;
#endif