joshua Elsdon
Delta Robot example
Dependencies: BufferedSerial Eigen
Fork of
TCPSocket_Example
by 
mbed_example
comms.h@3:10fa3102c2d7, 2018-10-05 (annotated)
- Committer:
- je310
- Date:
- Fri Oct 05 15:57:55 2018 +0000
- Revision:
- 3:10fa3102c2d7
- Child:
- 4:778bc352c47f
Delta firmware using odrives.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| je310 | 3:10fa3102c2d7 | 1 | #ifndef COMMS_H |
| je310 | 3:10fa3102c2d7 | 2 | #define COMMS_H |
| je310 | 3:10fa3102c2d7 | 3 | |
| je310 | 3:10fa3102c2d7 | 4 | struct OdriveCMD{ |
| je310 | 3:10fa3102c2d7 | 5 | float position; |
| je310 | 3:10fa3102c2d7 | 6 | float velocity; |
| je310 | 3:10fa3102c2d7 | 7 | float torque; |
| je310 | 3:10fa3102c2d7 | 8 | float maxCurrent; |
| je310 | 3:10fa3102c2d7 | 9 | int mode; |
| je310 | 3:10fa3102c2d7 | 10 | }; |
| je310 | 3:10fa3102c2d7 | 11 | struct ServoCMD{ |
| je310 | 3:10fa3102c2d7 | 12 | float angle; |
| je310 | 3:10fa3102c2d7 | 13 | float atTime; |
| je310 | 3:10fa3102c2d7 | 14 | }; |
| je310 | 3:10fa3102c2d7 | 15 | |
| je310 | 3:10fa3102c2d7 | 16 | struct toRobot{ |
| je310 | 3:10fa3102c2d7 | 17 | OdriveCMD motor1; |
| je310 | 3:10fa3102c2d7 | 18 | OdriveCMD motor2; |
| je310 | 3:10fa3102c2d7 | 19 | OdriveCMD motor3; |
| je310 | 3:10fa3102c2d7 | 20 | ServoCMD servo1; |
| je310 | 3:10fa3102c2d7 | 21 | ServoCMD servo2; |
| je310 | 3:10fa3102c2d7 | 22 | long time; |
| je310 | 3:10fa3102c2d7 | 23 | int count; |
| je310 | 3:10fa3102c2d7 | 24 | }; |
| je310 | 3:10fa3102c2d7 | 25 | |
| je310 | 3:10fa3102c2d7 | 26 | struct OdriveINFO{ |
| je310 | 3:10fa3102c2d7 | 27 | float speed; |
| je310 | 3:10fa3102c2d7 | 28 | int position; |
| je310 | 3:10fa3102c2d7 | 29 | float busVoltage; |
| je310 | 3:10fa3102c2d7 | 30 | float setCurrent; |
| je310 | 3:10fa3102c2d7 | 31 | float measuredCurrent; |
| je310 | 3:10fa3102c2d7 | 32 | }; |
| je310 | 3:10fa3102c2d7 | 33 | |
| je310 | 3:10fa3102c2d7 | 34 | struct vectorThree{ |
| je310 | 3:10fa3102c2d7 | 35 | float x; |
| je310 | 3:10fa3102c2d7 | 36 | float y; |
| je310 | 3:10fa3102c2d7 | 37 | float z; |
| je310 | 3:10fa3102c2d7 | 38 | }; |
| je310 | 3:10fa3102c2d7 | 39 | |
| je310 | 3:10fa3102c2d7 | 40 | struct imuINFO{ |
| je310 | 3:10fa3102c2d7 | 41 | vectorThree accel; |
| je310 | 3:10fa3102c2d7 | 42 | vectorThree gyro; |
| je310 | 3:10fa3102c2d7 | 43 | }; |
| je310 | 3:10fa3102c2d7 | 44 | |
| je310 | 3:10fa3102c2d7 | 45 | struct gunINFO{ |
| je310 | 3:10fa3102c2d7 | 46 | bool buttons[32]; |
| je310 | 3:10fa3102c2d7 | 47 | }; |
| je310 | 3:10fa3102c2d7 | 48 | |
| je310 | 3:10fa3102c2d7 | 49 | struct fromRobot{ |
| je310 | 3:10fa3102c2d7 | 50 | OdriveINFO motor1; |
| je310 | 3:10fa3102c2d7 | 51 | OdriveINFO motor2; |
| je310 | 3:10fa3102c2d7 | 52 | OdriveINFO motor3; |
| je310 | 3:10fa3102c2d7 | 53 | imuINFO imu; |
| je310 | 3:10fa3102c2d7 | 54 | gunINFO gun; |
| je310 | 3:10fa3102c2d7 | 55 | long time; |
| je310 | 3:10fa3102c2d7 | 56 | int count; |
| je310 | 3:10fa3102c2d7 | 57 | }; |
| je310 | 3:10fa3102c2d7 | 58 | |
| je310 | 3:10fa3102c2d7 | 59 | |
| je310 | 3:10fa3102c2d7 | 60 | #endif // COMMS_H |