Spine 18 motor board for Biomimetic Robotics Lab
leg_message.h@15:56a06363a698, 2022-09-28 (annotated)
- Committer:
- adimmit
- Date:
- Wed Sep 28 16:32:46 2022 +0000
- Revision:
- 15:56a06363a698
- Parent:
- 13:87e7ce883f6a
updated to work with checksum and with the 2-motor dyno;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
adimmit | 0:76c761d3caf1 | 1 | #ifndef _leg_message |
adimmit | 0:76c761d3caf1 | 2 | #define _leg_message |
adimmit | 0:76c761d3caf1 | 3 | |
adimmit | 0:76c761d3caf1 | 4 | #include <stdint.h> |
adimmit | 0:76c761d3caf1 | 5 | |
adimmit | 15:56a06363a698 | 6 | // 9*2 bytes = 18 16-bit words 36 8-bit words |
adimmit | 15:56a06363a698 | 7 | // 9 32-bit numbers |
adimmit | 0:76c761d3caf1 | 8 | struct spi_data_t |
adimmit | 0:76c761d3caf1 | 9 | { |
adimmit | 15:56a06363a698 | 10 | float q_1s[2]; |
adimmit | 15:56a06363a698 | 11 | float qd_1s[2]; |
adimmit | 15:56a06363a698 | 12 | float tau_1s[2]; |
adimmit | 15:56a06363a698 | 13 | int32_t flags[2]; |
adimmit | 13:87e7ce883f6a | 14 | uint32_t checksum; |
adimmit | 0:76c761d3caf1 | 15 | }; |
adimmit | 0:76c761d3caf1 | 16 | |
adimmit | 15:56a06363a698 | 17 | // 13*2 bytes = 26 16-bit words 52 8-bit words |
adimmit | 15:56a06363a698 | 18 | // 13 32-bit numbers |
adimmit | 0:76c761d3caf1 | 19 | struct spi_command_t |
adimmit | 0:76c761d3caf1 | 20 | { |
adimmit | 15:56a06363a698 | 21 | float q_des_1s[2]; //first motor on each can bus 0-can1, 1-can2, 2-can3 |
adimmit | 15:56a06363a698 | 22 | float qd_des_1s[2]; |
adimmit | 15:56a06363a698 | 23 | float kp_1s[2]; |
adimmit | 15:56a06363a698 | 24 | float kd_1s[2]; |
adimmit | 15:56a06363a698 | 25 | float tau_1s_ff[2]; |
adimmit | 15:56a06363a698 | 26 | int32_t flags[2]; |
adimmit | 13:87e7ce883f6a | 27 | uint32_t checksum; |
adimmit | 0:76c761d3caf1 | 28 | }; |
adimmit | 0:76c761d3caf1 | 29 | |
adimmit | 0:76c761d3caf1 | 30 | |
adimmit | 0:76c761d3caf1 | 31 | |
adimmit | 0:76c761d3caf1 | 32 | struct joint_control{ |
adimmit | 0:76c761d3caf1 | 33 | float p_des, v_des, kp, kd, t_ff; |
adimmit | 0:76c761d3caf1 | 34 | }; |
adimmit | 0:76c761d3caf1 | 35 | |
adimmit | 0:76c761d3caf1 | 36 | struct joint_state{ |
adimmit | 0:76c761d3caf1 | 37 | float p, v, t; |
adimmit | 0:76c761d3caf1 | 38 | }; |
adimmit | 0:76c761d3caf1 | 39 | |
adimmit | 0:76c761d3caf1 | 40 | struct grouped_act_state{ |
adimmit | 15:56a06363a698 | 41 | joint_state a1; //removed a2 and a3 |
adimmit | 0:76c761d3caf1 | 42 | }; |
adimmit | 0:76c761d3caf1 | 43 | struct grouped_act_control{ |
adimmit | 15:56a06363a698 | 44 | joint_control a1; |
adimmit | 0:76c761d3caf1 | 45 | } |
adimmit | 0:76c761d3caf1 | 46 | ; |
adimmit | 0:76c761d3caf1 | 47 | #endif |