117 lines
2.0 KiB
C++
Executable File
117 lines
2.0 KiB
C++
Executable File
#ifndef _UNITREE_ARM_ARM_COMMON_H_
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#define _UNITREE_ARM_ARM_COMMON_H_
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#include <stdint.h>
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#pragma pack(1)
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namespace UNITREE_ARM {
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// 4 Byte
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enum class ArmFSMState{
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INVALID,
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PASSIVE,
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JOINTCTRL,
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CARTESIAN,
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MOVEJ,
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MOVEL,
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MOVEC,
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TRAJECTORY,
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TOSTATE,
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SAVESTATE,
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TEACH,
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TEACHREPEAT,
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CALIBRATION,
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SETTRAJ,
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BACKTOSTART,
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NEXT,
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LOWCMD
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};
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enum class TrajType{
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MoveJ,
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MoveL,
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MoveC,
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Stop
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};
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// 20 Byte
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struct JointCmd{
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float T;
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float W;
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float Pos;
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float K_P;
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float K_W;
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};
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typedef struct{
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uint8_t reserved : 6 ;
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uint8_t state : 2 ;//whether motor is connected; 0-ok, 1-disconnected, 2-CRC error
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}Motor_Connected;
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typedef struct{
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int8_t temperature;
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/* 0x01: phase current is too large
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* 0x02: phase leakage
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* 0x04: overheat(including the motor windings and the motor shell)
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* 0x20: jumped
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* 0x40: nothing
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*/
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uint8_t error;
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Motor_Connected isConnected;
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}Motor_State;
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struct JointState{
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float T;
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float W;
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float Acc;
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float Pos;
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Motor_State state[2];
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};
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struct Posture{
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double rx;
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double ry;
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double rz;
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double x;
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double y;
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double z;
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};
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struct TrajCmd{
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TrajType trajType;
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Posture posture[2];
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double gripperPos;
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double maxSpeed;
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double stopTime;
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int trajOrder;
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};
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union ValueUnion{
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char name[10];
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JointCmd jointCmd[7];
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TrajCmd trajCmd;
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};
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struct SendCmd{
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uint8_t head[2];
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ArmFSMState state;
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bool track;// whether let arm track jointCmd in State_JOINTCTRL or posture[0] in State_CARTESIAN
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ValueUnion valueUnion;
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};
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struct RecvState{
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uint8_t head[2];
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ArmFSMState state;
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JointState jointState[7];
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Posture cartesianState;
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};
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constexpr int SENDCMD_LENGTH = (sizeof(SendCmd));
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constexpr int RECVSTATE_LENGTH = (sizeof(RecvState));
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constexpr int JointCmd_LENGTH = (sizeof(JointCmd));
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constexpr int JointState_LENGTH = (sizeof(JointState));
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#pragma pack()
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}
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#endif // _UNITREE_ARM_ARM_MSG_H_
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