Diff: leg_message.h

Revision:

13:ee50f3145be7

Parent:

12:b203f3ae57d0

--- a/leg_message.h	Wed May 12 15:11:14 2021 +0000
+++ b/leg_message.h	Tue Jul 20 19:34:50 2021 +0000
@@ -3,45 +3,16 @@
 
 #include <stdint.h>
 
-// 36 bytes
-// 18 16-bit words
+// 24 bytes
+// 12 16-bit words
 struct spi_data_t
 {
-    float q_1s[2];
-    float qd_1s[2];
-    float tau_1s[2];
-    int32_t flags[2];
+    float vol;
+    float lv_current;
+    float hv_current;
+    float ext_current;
+    float tau;
     int32_t checksum;
 };
 
-// 52 bytes
-// 26 16-bit words
-struct spi_command_t
-{
-    float q_des_1s[2]; //first motor on each can bus 0-can1, 1-can2, 2-can3
-    float qd_des_1s[2];
-    float kp_1s[2];
-    float kd_1s[2];
-    float tau_1s_ff[2];
-    int32_t flags[2];
-    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 a1; //removed a2 and a3
-    };
-struct grouped_act_control{
-    joint_control a1;
-    }
-    ;
 #endif
\ No newline at end of file