28 lines
641 B
C++
28 lines
641 B
C++
#ifndef GO1_PRO_UNITREE_LEGGED_JOYSTICK_H_
|
|
#define GO1_PRO_UNITREE_LEGGED_JOYSTICK_H_
|
|
|
|
#include <cstdint>
|
|
|
|
typedef union {
|
|
struct {
|
|
uint8_t R1 : 1; uint8_t L1 : 1; uint8_t start : 1; uint8_t select : 1;
|
|
uint8_t R2 : 1; uint8_t L2 : 1; uint8_t F1 : 1; uint8_t F2 : 1;
|
|
uint8_t A : 1; uint8_t B : 1; uint8_t X : 1; uint8_t Y : 1;
|
|
uint8_t up : 1; uint8_t right : 1; uint8_t down : 1; uint8_t left : 1;
|
|
} components;
|
|
uint16_t value;
|
|
} xKeySwitchUnion;
|
|
|
|
typedef struct {
|
|
uint8_t head[2];
|
|
xKeySwitchUnion btn;
|
|
float lx;
|
|
float rx;
|
|
float ry;
|
|
float L2;
|
|
float ly;
|
|
uint8_t idle[16];
|
|
} xRockerBtnDataStruct;
|
|
|
|
#endif
|