remove motor structs
@@ -56,7 +56,7 @@ typedef struct __attribute__((__packed__))
};
} luos_uuid_t;
-// Handy struct
+// Handy struct TODO : remove it
typedef struct __attribute__((__packed__))
{
union {
@@ -121,32 +121,6 @@ typedef struct
};
} servo_parameters_t;
-// Motor
-typedef struct __attribute__((__packed__))
-{
- union {
- struct __attribute__((__packed__))
- {
- // target modes
- uint16_t mode_compliant : 1;
- uint16_t mode_ratio : 1;
- uint16_t mode_torque : 1;
- uint16_t mode_angular_speed : 1;
- uint16_t mode_angular_position : 1;
- uint16_t mode_linear_speed : 1;
- uint16_t mode_linear_position : 1;
-
- // report modes
- uint16_t angular_position : 1;
- uint16_t angular_speed : 1;
- uint16_t linear_position : 1;
- uint16_t linear_speed : 1;
- uint16_t current : 1;
- };
- uint8_t unmap[2];
- };
-} motor_mode_t;
-
// Control modes
typedef enum
{
@@ -168,31 +142,4 @@ typedef struct __attribute__((__packed__))
};
} control_mode_t;
-typedef struct __attribute__((__packed__))
-{
-
- // targets
- motor_mode_t mode;
- angular_position_t target_angular_position;
- angular_speed_t target_angular_speed;
- ratio_t target_ratio;
-
- // limits
- angular_position_t limit_angular_position[2];
- ratio_t limit_ratio;
- current_t limit_current;
-
- // measures
- angular_position_t angular_position;
- angular_speed_t angular_speed;
- linear_position_t linear_position;
- linear_speed_t linear_speed;
- current_t current;
-
- //configs
- float motor_reduction;
- float resolution;
- linear_position_t wheel_diameter;
-} motor_config_t;
-
#endif /*__ __L0_H */
