joshua Elsdon / Mbed OS DeltaRobotFirmware

Delta Robot example

Dependencies:   BufferedSerial Eigen

Fork of TCPSocket_Example by mbed_example

comms.h@5:01e1e68309ae, 2018-10-15 (annotated)

Committer:
je310
Date:
Mon Oct 15 18:30:20 2018 +0000
Revision:
5:01e1e68309ae
Parent:
4:778bc352c47f 
testing eigen;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
je310 3:10fa3102c2d7 1 #ifndef COMMS_H
je310 3:10fa3102c2d7 2 #define COMMS_H
je310 3:10fa3102c2d7 3
je310 5:01e1e68309ae 4 #include <stdint.h>
je310 3:10fa3102c2d7 5 struct OdriveCMD{
je310 3:10fa3102c2d7 6 float position;
je310 3:10fa3102c2d7 7 float velocity;
je310 3:10fa3102c2d7 8 float torque;
je310 3:10fa3102c2d7 9 float maxCurrent;
je310 5:01e1e68309ae 10 int32_t mode;
je310 3:10fa3102c2d7 11 };
je310 3:10fa3102c2d7 12 struct ServoCMD{
je310 3:10fa3102c2d7 13 float angle;
je310 3:10fa3102c2d7 14 float atTime;
je310 3:10fa3102c2d7 15 };
je310 3:10fa3102c2d7 16
je310 5:01e1e68309ae 17 struct rosTime{
je310 5:01e1e68309ae 18 int32_t seconds;
je310 5:01e1e68309ae 19 int32_t nSeconds;
je310 5:01e1e68309ae 20 };
je310 5:01e1e68309ae 21
je310 3:10fa3102c2d7 22 struct toRobot{
je310 3:10fa3102c2d7 23 OdriveCMD motor1;
je310 3:10fa3102c2d7 24 OdriveCMD motor2;
je310 3:10fa3102c2d7 25 OdriveCMD motor3;
je310 3:10fa3102c2d7 26 ServoCMD servo1;
je310 3:10fa3102c2d7 27 ServoCMD servo2;
je310 5:01e1e68309ae 28 rosTime time;
je310 5:01e1e68309ae 29 float timeOffset;
je310 5:01e1e68309ae 30 int32_t isPing;
je310 5:01e1e68309ae 31 int32_t count;
je310 3:10fa3102c2d7 32 };
je310 3:10fa3102c2d7 33
je310 3:10fa3102c2d7 34 struct OdriveINFO{
je310 3:10fa3102c2d7 35 float speed;
je310 5:01e1e68309ae 36 int32_t position;
je310 3:10fa3102c2d7 37 float busVoltage;
je310 3:10fa3102c2d7 38 float setCurrent;
je310 3:10fa3102c2d7 39 float measuredCurrent;
je310 3:10fa3102c2d7 40 };
je310 3:10fa3102c2d7 41
je310 3:10fa3102c2d7 42 struct vectorThree{
je310 3:10fa3102c2d7 43 float x;
je310 3:10fa3102c2d7 44 float y;
je310 3:10fa3102c2d7 45 float z;
je310 3:10fa3102c2d7 46 };
je310 3:10fa3102c2d7 47
je310 3:10fa3102c2d7 48 struct imuINFO{
je310 3:10fa3102c2d7 49 vectorThree accel;
je310 3:10fa3102c2d7 50 vectorThree gyro;
je310 3:10fa3102c2d7 51 };
je310 3:10fa3102c2d7 52
je310 3:10fa3102c2d7 53 struct gunINFO{
je310 3:10fa3102c2d7 54 bool buttons[32];
je310 3:10fa3102c2d7 55 };
je310 3:10fa3102c2d7 56
je310 3:10fa3102c2d7 57 struct fromRobot{
je310 3:10fa3102c2d7 58 OdriveINFO motor1;
je310 3:10fa3102c2d7 59 OdriveINFO motor2;
je310 3:10fa3102c2d7 60 OdriveINFO motor3;
je310 3:10fa3102c2d7 61 imuINFO imu;
je310 3:10fa3102c2d7 62 gunINFO gun;
je310 5:01e1e68309ae 63 rosTime time;
je310 5:01e1e68309ae 64 rosTime pingTime;
je310 5:01e1e68309ae 65 int32_t isPing;
je310 5:01e1e68309ae 66 int32_t count;
je310 3:10fa3102c2d7 67 };
je310 3:10fa3102c2d7 68
je310 3:10fa3102c2d7 69
je310 3:10fa3102c2d7 70 #endif // COMMS_H