Spine 18 motor board for Biomimetic Robotics Lab
leg_message.h
- Committer:
- adimmit
- Date:
- 2022-09-28
- Revision:
- 15:56a06363a698
- Parent:
- 13:87e7ce883f6a
File content as of revision 15:56a06363a698:
#ifndef _leg_message #define _leg_message #include <stdint.h> // 9*2 bytes = 18 16-bit words 36 8-bit words // 9 32-bit numbers struct spi_data_t { float q_1s[2]; float qd_1s[2]; float tau_1s[2]; int32_t flags[2]; uint32_t checksum; }; // 13*2 bytes = 26 16-bit words 52 8-bit words // 13 32-bit numbers 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]; uint32_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