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