Diff: leg_message.h

Revision:

5:6a95726e45b0

Parent:

4:f0a4a87b6730

Child:

6:aad89fd109c2

--- a/leg_message.h	Wed May 02 18:19:22 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,60 +0,0 @@
-#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