29 lines
713 B
C
29 lines
713 B
C
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#ifndef CTRLCOMPONENTS_H
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#define CTRLCOMPONENTS_H
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#include "message/arm_common.h"
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#include "utilities/CSVTool.h"
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#include "message/LowlevelCmd.h"
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#include "message/LowlevelState.h"
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#include "message/udp.h"
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#include "utilities/loop.h"
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struct CtrlComponents{
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public:
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CtrlComponents(double deltaT);
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~CtrlComponents();
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void sendRecv();
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void armCtrl(Vec6 q, Vec6 qd, Vec6 tau);
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void gripperCtrl(double gripperPos, double gripperW, double gripperTau);
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LowlevelCmd *lowcmd;
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LowlevelState *lowstate;
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double dt;
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SendCmd sendCmd; // command to control the arm
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RecvState recvState; // the arm state receive from udp
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ArmFSMState statePast;
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private:
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UDPPort *_udp;
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};
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#endif
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