/***************************************************************** Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved. ******************************************************************/ #ifndef _UNITREE_LEGGED_COMM_H_ #define _UNITREE_LEGGED_COMM_H_ #include #include namespace UNITREE_LEGGED_SDK { constexpr int HIGHLEVEL = 0xee; constexpr int LOWLEVEL = 0xff; constexpr int TRIGERLEVEL = 0xf0; constexpr double PosStopF = (2.146E+9f); constexpr double VelStopF = (16000.0f); extern const int HIGH_CMD_LENGTH; // sizeof(HighCmd) extern const int HIGH_STATE_LENGTH; // sizeof(HighState) extern const int LOW_CMD_LENGTH; // shorter than sizeof(LowCmd), bytes compressed LowCmd length extern const int LOW_STATE_LENGTH; // shorter than sizeof(LowState), bytes compressed LowState length #pragma pack(1) typedef struct { uint8_t off; // off 0xA5 std::array reserve; } BmsCmd; typedef struct { uint8_t version_h; uint8_t version_l; uint8_t bms_status; uint8_t SOC; // SOC 0-100% int32_t current; // mA uint16_t cycle; std::array BQ_NTC; // x1 degrees centigrade std::array MCU_NTC; // x1 degrees centigrade std::array cell_vol; // cell voltage mV // std::array BQ_NTC; // x1 degrees centigrade // std::array MCU_NTC; // x1 degrees centigrade // std::array cell_vol; // cell voltage mV } BmsState; typedef struct { float x; float y; float z; } Cartesian; typedef struct { std::array quaternion; // quaternion, normalized, (w,x,y,z) std::array gyroscope; // angular velocity （unit: rad/s) (raw data) std::array accelerometer; // m/(s2) (raw data) std::array rpy; // euler angle（unit: rad) int8_t temperature; } IMU; // when under accelerated motion, the attitude of the robot calculated by IMU will drift. typedef struct { uint8_t r; uint8_t g; uint8_t b; } LED; // foot led brightness: 0~255 typedef struct { uint8_t mode; // motor working mode float q; // current angle (unit: radian) float dq; // current velocity (unit: radian/second) float ddq; // current acc (unit: radian/second*second) float tauEst; // current estimated output torque (unit: N.m) float q_raw; // current angle (unit: radian) float dq_raw; // current velocity (unit: radian/second) float ddq_raw; int8_t temperature; // current temperature (temperature conduction is slow that leads to lag) uint32_t lost; std::array reserve; } MotorState; // motor feedback typedef struct { uint8_t mode; // desired working mode float q; // desired angle (unit: radian) float dq; // desired velocity (unit: radian/second) float tau; // desired output torque (unit: N.m) float Kp; // desired position stiffness (unit: N.m/rad ) float Kd; // desired velocity stiffness (unit: N.m/(rad/s) ) std::array reserve; } MotorCmd; // motor control typedef struct { std::array head; uint8_t levelFlag; uint8_t frameReserve; std::array SN; std::array version; uint16_t bandWidth; IMU imu; std::array motorState; BmsState bms; std::array footForce; // force sensors std::array footForceEst; // force sensors uint32_t tick; // reference real-time from motion controller (unit: us) std::array wirelessRemote; // wireless commands uint8_t bitFlag; float adcReel; // add for Go2 int8_t temperatureNTC1; // add for Go2 int8_t temperatureNTC2; // add for Go2 float powerV; float powerA; std::array fanFrequency; // add for Go2 uint32_t reserve; uint32_t crc; } LowState; // low level feedback typedef struct { std::array head; uint8_t levelFlag; uint8_t frameReserve; std::array SN; std::array version; uint16_t bandWidth; std::array motorCmd; BmsCmd bms; std::array wirelessRemote; std::array led; std::array fan; uint8_t gpio; uint32_t reserve; uint32_t crc; } LowCmd; // low level control typedef struct { std::array head; uint8_t levelFlag; uint8_t frameReserve; std::array SN; std::array version; uint16_t bandWidth; IMU imu; std::array motorState; BmsState bms; std::array footForce; std::array footForceEst; uint8_t mode; float progress; uint8_t gaitType; // 0.idle 1.trot 2.trot running 3.climb stair 4.trot obstacle float footRaiseHeight; // (unit: m, default: 0.08m), foot up height while walking std::array position; // (unit: m), from own odometry in inertial frame, usually drift float bodyHeight; // (unit: m, default: 0.28m), std::array velocity; // (unit: m/s), forwardSpeed, sideSpeed, rotateSpeed in body frame float yawSpeed; // (unit: rad/s), rotateSpeed in body frame std::array rangeObstacle; std::array footPosition2Body; // foot position relative to body std::array footSpeed2Body; // foot speed relative to body std::array wirelessRemote; uint32_t reserve; uint32_t crc; } HighState; // high level feedback typedef struct { std::array head; uint8_t levelFlag; uint8_t frameReserve; std::array SN; std::array version; uint16_t bandWidth; uint8_t mode; // 0. idle, default stand 1. force stand (controlled by dBodyHeight + ypr) // 2. target velocity walking (controlled by velocity + yawSpeed) // 3. target position walking (controlled by position + ypr[0]) // 4. path mode walking (reserve for future release) // 5. position stand down. // 6. position stand up // 7. damping mode // 8. recovery stand // 9. backflip // 10. jumpYaw // 11. straightHand // 12. dance1 // 13. dance2 uint8_t gaitType; // 0.idle 1.trot 2.trot running 3.climb stair 4.trot obstacle uint8_t speedLevel; // 0. default low speed. 1. medium speed 2. high speed. during walking, only respond MODE 3 float footRaiseHeight; // (unit: m, default: 0.08m), foot up height while walking, delta value float bodyHeight; // (unit: m, default: 0.28m), delta value std::array position; // (unit: m), desired position in inertial frame std::array euler; // (unit: rad), roll pitch yaw in stand mode std::array velocity; // (unit: m/s), forwardSpeed, sideSpeed in body frame float yawSpeed; // (unit: rad/s), rotateSpeed in body frame std::array dComXy; std::array dstandFootXy; BmsCmd bms; std::array led; std::array wirelessRemote; uint32_t reserve; uint32_t crc; } HighCmd; // high level control #pragma pack() typedef struct { unsigned long long TotalCount; // total loop count unsigned long long SendCount; // total send count unsigned long long RecvCount; // total receive count unsigned long long SendError; // total send error unsigned long long FlagError; // total flag error unsigned long long RecvCRCError; // total reveive CRC error unsigned long long RecvLoseError; // total lose package count } UDPState; // UDP communication state } #endif