Diff: comms.h

Revision:

3:10fa3102c2d7

Child:

4:778bc352c47f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/comms.h	Fri Oct 05 15:57:55 2018 +0000
@@ -0,0 +1,60 @@
+#ifndef COMMS_H
+#define COMMS_H
+
+struct OdriveCMD{
+    float position;
+    float velocity;
+    float torque;
+    float maxCurrent;
+    int mode;
+};
+struct ServoCMD{
+    float angle;
+    float atTime;
+};
+
+struct toRobot{
+    OdriveCMD motor1;
+    OdriveCMD motor2;
+    OdriveCMD motor3;
+    ServoCMD servo1;
+    ServoCMD servo2;
+    long time;
+    int count;
+};
+
+struct OdriveINFO{
+    float speed;
+    int position;
+    float busVoltage;
+    float setCurrent;
+    float measuredCurrent;
+};
+
+struct vectorThree{
+    float x;
+    float y;
+    float z;
+};
+
+struct imuINFO{
+    vectorThree accel;
+    vectorThree gyro;
+};
+
+struct gunINFO{
+    bool buttons[32];
+};
+
+struct fromRobot{
+    OdriveINFO motor1;
+    OdriveINFO motor2;
+    OdriveINFO motor3;
+    imuINFO imu;
+    gunINFO gun;
+    long time;
+    int count;
+};
+
+
+#endif // COMMS_H