Diff: leg_message.h

Revision:

15:56a06363a698

Parent:

13:87e7ce883f6a

--- a/leg_message.h	Fri Feb 04 22:38:23 2022 +0000
+++ b/leg_message.h	Wed Sep 28 16:32:46 2022 +0000
@@ -3,43 +3,27 @@
 
 #include <stdint.h>
 
-// 31*4 bytes = 124 8-bit words
-// 31 32-bit numbers
+// 9*2 bytes = 18 16-bit words 36 8-bit words
+// 9 32-bit numbers
 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];
-    float tau_1s[3];
-    float tau_2s[3];
-    float tau_3s[3];
-    uint32_t flags[3];
+    float q_1s[2];
+    float qd_1s[2];
+    float tau_1s[2];
+    int32_t flags[2];
     uint32_t checksum;
 };
 
-// 49*4 bytes = 196 8-bit words
-// 49 32-bit numbers
+// 13*2 bytes = 26 16-bit words 52 8-bit words
+// 13 32-bit numbers
 struct spi_command_t
 {
-    float q_des_1s[3]; //first motor on each can bus 0-can1, 1-can2, 2-can3
-    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];
-    uint32_t flags[3];
+    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];
     uint32_t checksum;
 };
 
@@ -54,10 +38,10 @@
     };
     
 struct grouped_act_state{
-    joint_state a1, a2, a3; //removed a2 and a3
+    joint_state a1; //removed a2 and a3
     };
 struct grouped_act_control{
-    joint_control a1, a2, a3;
+    joint_control a1;
     }
     ;
 #endif
\ No newline at end of file