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Delta Robot example
Dependencies: BufferedSerial Eigen
Fork of TCPSocket_Example by
Diff: comms.h
- Revision:
- 3:10fa3102c2d7
- Child:
- 4:778bc352c47f
diff -r 50f1485931f1 -r 10fa3102c2d7 comms.h --- /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