Diff: leg_message.h

Revision:

13:87e7ce883f6a

Parent:

10:42438194e82b

Child:

15:56a06363a698

--- a/leg_message.h	Thu Feb 03 19:10:54 2022 +0000
+++ b/leg_message.h	Fri Feb 04 19:42:10 2022 +0000
@@ -3,8 +3,8 @@
 
 #include <stdint.h>
 
-// 124 bytes
-// 62 16-bit words
+// 31*4 bytes = 124 8-bit words
+// 31 32-bit numbers
 struct spi_data_t
 {
     float q_1s[3];
@@ -16,16 +16,17 @@
     float tau_1s[3];
     float tau_2s[3];
     float tau_3s[3];
-    int32_t flags[3];
-    int32_t checksum;
+    uint32_t flags[3];
+    uint32_t checksum;
 };
 
-// 196 bytes
+// 49*4 bytes = 196 8-bit words
+// 49 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]; //second motor on each can bus
-    float q_des_3s[3]; //third motor on each can bus etc...
+    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];
@@ -38,8 +39,8 @@
     float tau_1s_ff[3];
     float tau_2s_ff[3];
     float tau_3s_ff[3];
-    int32_t flags[3];
-    int32_t checksum;
+    uint32_t flags[3];
+    uint32_t checksum;
 };
 
 
@@ -53,7 +54,7 @@
     };
     
 struct grouped_act_state{
-    joint_state a1, a2, a3;
+    joint_state a1, a2, a3; //removed a2 and a3
     };
 struct grouped_act_control{
     joint_control a1, a2, a3;