Diff: leg_message.h

Revision:

3:9ef9b4c66648

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/leg_message.h	Wed May 02 18:09:14 2018 +0000
@@ -0,0 +1,60 @@
+#ifndef _leg_message
+#define _leg_message
+
+#include <stdint.h>
+
+// 60 bytes
+// 30 16-bit words
+struct spi_data_t
+{
+    float q_abad[2];
+    float q_hip[2];
+    float q_knee[2];
+    float qd_abad[2];
+    float qd_hip[2];
+    float qd_knee[2];
+    int32_t flags[2];
+    int32_t checksum;
+};
+
+// 132 bytes
+// 66 16-bit words
+struct spi_command_t
+{
+    float q_des_abad[2];
+    float q_des_hip[2];
+    float q_des_knee[2];
+    float qd_des_abad[2];
+    float qd_des_hip[2];
+    float qd_des_knee[2];
+    float kp_abad[2];
+    float kp_hip[2];
+    float kp_knee[2];
+    float kd_abad[2];
+    float kd_hip[2];
+    float kd_knee[2];
+    float tau_abad_ff[2];
+    float tau_hip_ff[2];
+    float tau_knee_ff[2];
+    int32_t flags[2];
+    int32_t checksum;
+};
+
+
+
+struct joint_control{
+    float p_des, v_des, kp, kd, t_ff;
+    };
+    
+struct joint_state{
+    float p, v, t;
+    };
+    
+struct leg_state{
+    joint_state a, h, k;
+    };
+struct leg_control{
+    joint_control a, h, k;
+    }
+    ;
+#endif
\ No newline at end of file