Ben Katz
SPI to quad CAN firmware
Fork of
Teleop_Controller
by 
Ben Katz
leg_message.h@9:56747e76c9c1, 2019-10-04 (annotated)
- Committer:
- benkatz
- Date:
- Fri Oct 04 14:21:16 2019 +0000
- Revision:
- 9:56747e76c9c1
- Parent:
- 3:9ef9b4c66648
first revision on new mini cheetah; updated max speed to 65 rad/s; added 1s delay at startup
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 3:9ef9b4c66648 | 1 | #ifndef _leg_message |
| benkatz | 3:9ef9b4c66648 | 2 | #define _leg_message |
| benkatz | 3:9ef9b4c66648 | 3 | |
| benkatz | 3:9ef9b4c66648 | 4 | #include <stdint.h> |
| benkatz | 3:9ef9b4c66648 | 5 | |
| benkatz | 3:9ef9b4c66648 | 6 | // 60 bytes |
| benkatz | 3:9ef9b4c66648 | 7 | // 30 16-bit words |
| benkatz | 3:9ef9b4c66648 | 8 | struct spi_data_t |
| benkatz | 3:9ef9b4c66648 | 9 | { |
| benkatz | 3:9ef9b4c66648 | 10 | float q_abad[2]; |
| benkatz | 3:9ef9b4c66648 | 11 | float q_hip[2]; |
| benkatz | 3:9ef9b4c66648 | 12 | float q_knee[2]; |
| benkatz | 3:9ef9b4c66648 | 13 | float qd_abad[2]; |
| benkatz | 3:9ef9b4c66648 | 14 | float qd_hip[2]; |
| benkatz | 3:9ef9b4c66648 | 15 | float qd_knee[2]; |
| benkatz | 3:9ef9b4c66648 | 16 | int32_t flags[2]; |
| benkatz | 3:9ef9b4c66648 | 17 | int32_t checksum; |
| benkatz | 3:9ef9b4c66648 | 18 | }; |
| benkatz | 3:9ef9b4c66648 | 19 | |
| benkatz | 3:9ef9b4c66648 | 20 | // 132 bytes |
| benkatz | 3:9ef9b4c66648 | 21 | // 66 16-bit words |
| benkatz | 3:9ef9b4c66648 | 22 | struct spi_command_t |
| benkatz | 3:9ef9b4c66648 | 23 | { |
| benkatz | 3:9ef9b4c66648 | 24 | float q_des_abad[2]; |
| benkatz | 3:9ef9b4c66648 | 25 | float q_des_hip[2]; |
| benkatz | 3:9ef9b4c66648 | 26 | float q_des_knee[2]; |
| benkatz | 3:9ef9b4c66648 | 27 | float qd_des_abad[2]; |
| benkatz | 3:9ef9b4c66648 | 28 | float qd_des_hip[2]; |
| benkatz | 3:9ef9b4c66648 | 29 | float qd_des_knee[2]; |
| benkatz | 3:9ef9b4c66648 | 30 | float kp_abad[2]; |
| benkatz | 3:9ef9b4c66648 | 31 | float kp_hip[2]; |
| benkatz | 3:9ef9b4c66648 | 32 | float kp_knee[2]; |
| benkatz | 3:9ef9b4c66648 | 33 | float kd_abad[2]; |
| benkatz | 3:9ef9b4c66648 | 34 | float kd_hip[2]; |
| benkatz | 3:9ef9b4c66648 | 35 | float kd_knee[2]; |
| benkatz | 3:9ef9b4c66648 | 36 | float tau_abad_ff[2]; |
| benkatz | 3:9ef9b4c66648 | 37 | float tau_hip_ff[2]; |
| benkatz | 3:9ef9b4c66648 | 38 | float tau_knee_ff[2]; |
| benkatz | 3:9ef9b4c66648 | 39 | int32_t flags[2]; |
| benkatz | 3:9ef9b4c66648 | 40 | int32_t checksum; |
| benkatz | 3:9ef9b4c66648 | 41 | }; |
| benkatz | 3:9ef9b4c66648 | 42 | |
| benkatz | 3:9ef9b4c66648 | 43 | |
| benkatz | 3:9ef9b4c66648 | 44 | |
| benkatz | 3:9ef9b4c66648 | 45 | struct joint_control{ |
| benkatz | 3:9ef9b4c66648 | 46 | float p_des, v_des, kp, kd, t_ff; |
| benkatz | 3:9ef9b4c66648 | 47 | }; |
| benkatz | 3:9ef9b4c66648 | 48 | |
| benkatz | 3:9ef9b4c66648 | 49 | struct joint_state{ |
| benkatz | 3:9ef9b4c66648 | 50 | float p, v, t; |
| benkatz | 3:9ef9b4c66648 | 51 | }; |
| benkatz | 3:9ef9b4c66648 | 52 | |
| benkatz | 3:9ef9b4c66648 | 53 | struct leg_state{ |
| benkatz | 3:9ef9b4c66648 | 54 | joint_state a, h, k; |
| benkatz | 3:9ef9b4c66648 | 55 | }; |
| benkatz | 3:9ef9b4c66648 | 56 | struct leg_control{ |
| benkatz | 3:9ef9b4c66648 | 57 | joint_control a, h, k; |
| benkatz | 3:9ef9b4c66648 | 58 | } |
| benkatz | 3:9ef9b4c66648 | 59 | ; |
| benkatz | 3:9ef9b4c66648 | 60 | #endif |