44 lines
940 B
C
44 lines
940 B
C
|
/*****************************************************************
|
||
|
|
Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
|
||
|
|
*****************************************************************/
|
||
|
|
#ifndef _UNITREE_LEGGED_JOYSTICK_H_
|
||
|
|
#define _UNITREE_LEGGED_JOYSTICK_H_
|
||
|
|
|
||
|
|
#include <stdint.h>
|
||
|
|
// 16b
|
||
|
|
typedef union {
|
||
|
|
struct {
|
||
|
|
uint8_t R1 : 1;
|
||
|
|
uint8_t L1 : 1;
|
||
|
|
uint8_t start : 1;
|
||
|
|
uint8_t select : 1;
|
||
|
|
uint8_t R2 : 1;
|
||
|
|
uint8_t L2 : 1;
|
||
|
|
uint8_t F1 : 1;
|
||
|
|
uint8_t F2 : 1;
|
||
|
|
uint8_t A : 1;
|
||
|
|
uint8_t B : 1;
|
||
|
|
uint8_t X : 1;
|
||
|
|
uint8_t Y : 1;
|
||
|
|
uint8_t up : 1;
|
||
|
|
uint8_t right : 1;
|
||
|
|
uint8_t down : 1;
|
||
|
|
uint8_t left : 1;
|
||
|
|
} components;
|
||
|
|
uint16_t value;
|
||
|
|
} xKeySwitchUnion;
|
||
|
|
|
||
|
|
// 40 Byte (now used 24B)
|
||
|
|
typedef struct {
|
||
|
|
uint8_t head[2];
|
||
|
|
xKeySwitchUnion btn;
|
||
|
|
float lx;
|
||
|
|
float rx;
|
||
|
|
float ry;
|
||
|
|
float L2;
|
||
|
|
float ly;
|
||
|
|
|
||
|
|
uint8_t idle[16];
|
||
|
|
} xRockerBtnDataStruct;
|
||
|
|
|
||
|
|
#endif // _UNITREE_LEGGED_JOYSTICK_H_
|