159 lines
6.3 KiB
C++
159 lines
6.3 KiB
C++
#ifndef _UNITREE_ARM_ALIENGO_COMMON_H_
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#define _UNITREE_ARM_ALIENGO_COMMON_H_
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#include <stdint.h>
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namespace UNITREE_LEGGED_SDK
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{
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constexpr int HIGHLEVEL = 0x00;
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constexpr int LOWLEVEL = 0xff;
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constexpr double PosStopF = (2.146E+9f);
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constexpr double VelStopF = (16000.0f);
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#pragma pack(1)
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typedef struct
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{
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float x;
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float y;
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float z;
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} Cartesian;
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typedef struct
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{
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float quaternion[4]; // quaternion, normalized, (w,x,y,z)
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float gyroscope[3]; // angular velocity （unit: rad/s)
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float accelerometer[3]; // m/(s2)
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float rpy[3]; // euler angle（unit: rad)
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int8_t temperature;
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} IMU; // when under accelerated motion, the attitude of the robot calculated by IMU will drift.
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typedef struct
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{
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uint8_t r;
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uint8_t g;
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uint8_t b;
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} LED; // foot led brightness: 0~255
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typedef struct
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{
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uint8_t mode; // motor working mode
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float q; // current angle (unit: radian)
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float dq; // current velocity (unit: radian/second)
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float ddq; // current acc (unit: radian/second*second)
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float tauEst; // current estimated output torque (unit: N.m)
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float q_raw; // current angle (unit: radian)
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float dq_raw; // current velocity (unit: radian/second)
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float ddq_raw;
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int8_t temperature; // current temperature (temperature conduction is slow that leads to lag)
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uint32_t reserve[2]; // in reserve[1] returns the brake state.
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} MotorState; // motor feedback
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typedef struct
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{
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uint8_t mode; // desired working mode
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float q; // desired angle (unit: radian)
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float dq; // desired velocity (unit: radian/second)
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float tau; // desired output torque (unit: N.m)
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float Kp; // desired position stiffness (unit: N.m/rad )
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float Kd; // desired velocity stiffness (unit: N.m/(rad/s) )
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uint32_t reserve[3]; // in reserve[0] sends the brake cmd.
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} MotorCmd; // motor control
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typedef struct
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{
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uint8_t levelFlag; // flag to distinguish high level or low level
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uint16_t commVersion;
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uint16_t robotID;
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uint32_t SN;
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uint8_t bandWidth;
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IMU imu;
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MotorState motorState[20];
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int16_t footForce[4]; // force sensors
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int16_t footForceEst[4]; // force sensors
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uint32_t tick; // reference real-time from motion controller (unit: us)
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uint8_t wirelessRemote[40]; // wireless commands
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uint32_t reserve;
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uint32_t crc;
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} LowState; // low level feedback
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typedef struct
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{
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uint8_t levelFlag;
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uint16_t commVersion;
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uint16_t robotID;
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uint32_t SN;
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uint8_t bandWidth;
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MotorCmd motorCmd[20];
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LED led[4];
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uint8_t wirelessRemote[40];
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uint32_t reserve;
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uint32_t crc;
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} LowCmd; // low level control
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typedef struct
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{
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uint8_t levelFlag;
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uint16_t commVersion;
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uint16_t robotID;
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uint32_t SN;
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uint8_t bandWidth;
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uint8_t mode;
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IMU imu;
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float position[3]; // (unit: m), from robot own odometry in inertial frame, usually drift
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float velocity[3]; // (unit: m/s), forwardSpeed, sideSpeed, updownSpeed in body frame
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float yawSpeed; // (unit: rad/s), rotateSpeed in body frame.
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Cartesian footPosition2Body[4]; // foot position relative to body
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Cartesian footSpeed2Body[4]; // foot speed relative to body
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int16_t footForce[4];
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uint8_t wirelessRemote[40];
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uint32_t reserve;
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uint32_t crc;
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} HighState; // high level feedback
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typedef struct
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{
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uint8_t levelFlag;
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uint16_t commVersion;
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uint16_t robotID;
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uint32_t SN;
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uint8_t bandWidth;
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uint8_t mode; // 0.idle, default stand | 1.force stand (controlled by dBodyHeight + rpy)
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// 2.target velocity walking (controlled by velocity + yawSpeed)
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// 3.target position walking (controlled by position + rpy[2])
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// 4. path mode walking (reserve for future release)
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// 5. position stand down. |6. position stand up |7. damping mode | 8. recovery mode
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uint8_t gaitType; // 0.trot | 1. trot running | 2.climb stair
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uint8_t speedLevel; // 0. default low speed. 1. medium speed 2. high speed. during walking
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float dFootRaiseHeight; // (unit: m), swing foot height adjustment from default swing height.
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float dBodyHeight; // (unit: m), body height adjustment from default body height.
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float position[2]; // (unit: m), desired x and y position in inertial frame.
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float rpy[3]; // (unit: rad), desired yaw-pitch-roll euler angle, expressed in roll(rpy[0]) pitch(rpy[1]) yaw(rpy[2])
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float velocity[2]; // (unit: m/s), forwardSpeed, sideSpeed in body frame.
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float yawSpeed; // (unit: rad/s), rotateSpeed in body frame.
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LED led[4];
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uint8_t wirelessRemote[40];
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uint32_t reserve;
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uint32_t crc;
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} HighCmd; // high level control uint8_t mode
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#pragma pack()
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typedef struct
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{
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unsigned long long TotalCount; // total loop count
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unsigned long long SendCount; // total send count
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unsigned long long RecvCount; // total receive count
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unsigned long long SendError; // total send error
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unsigned long long FlagError; // total flag error
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unsigned long long RecvCRCError; // total reveive CRC error
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unsigned long long RecvLoseError; // total lose package count
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} UDPState; // UDP communication state
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constexpr int HIGH_CMD_LENGTH = (sizeof(HighCmd));
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constexpr int HIGH_STATE_LENGTH = (sizeof(HighState));
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}
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#endif |