removed space in TODOLater

boards/stm32l432kc/src/bin/levitation.rs

@@ -13,19 +13,19 @@ use embassy_time::Instant;
 
 use {defmt_rtt as _, panic_probe as _};
 
-const MAX_VOLTAGE: f32 = 500.0; // TODO Later
-const MAX_CURRENT: f32 = 500.0; // TODO Later
-const TARGET_HEIGHT: f32 = 10.0; // TODO Later to be determined by levitation
+const MAX_VOLTAGE: f32 = 500.0; // TODOLater
+const MAX_CURRENT: f32 = 500.0; // TODOLater
+const TARGET_HEIGHT: f32 = 10.0; // TODOLater to be determined by levitation
 
 const GAIN_HEIGHT: PidGain = PidGain{ 
-    // TODO Later to be determined by levitation
+    // TODOLater to be determined by levitation
     kp: 1.0,
     ki: 0.05,
     kd: 0.005,
 };
 
 const GAIN_CURRENT: PidGain = PidGain{ 
-    // TODO Later determined by levitation
+    // TODOLater determined by levitation
     kp: 1.1,
     ki: 0.12,
     kd: 0.05,
@@ -51,15 +51,15 @@ async fn main(_spawner: Spawner) {
 
     loop {
 
-        let actual_height = 0.7; // TODO Later we'll get that from a sensor
+        let actual_height = 0.7; // TODOLater we'll get that from a sensor
 
         let dt = (Instant::now().as_micros() as f32) - time_start;
 
         let output_height_pid = pid_height.update(TARGET_HEIGHT, actual_height, dt);
 
         let target_current = (actual_height + output_height_pid).min(MAX_CURRENT);
 
-        let actual_current = 1.0; // TODO Later we'll get that from a sensor
+        let actual_current = 1.0; // TODOLater we'll get that from a sensor
 
         let output_current_pid = pid_current.update(target_current, actual_current, dt);
 

lib/motors/config/messages.rs

@@ -0,0 +1,87 @@
+struct Messages {
+    id: u16,
+    command: u8,
+    index: u16,
+    subindex: u8,
+    data: u32,
+} 
+
+const TEST_STEPPER_ENABLE: Message = Message {
+    id: 0x601,
+    command: 0x2B,
+    index: 0x6040,
+    subindex: 0x09,
+    data: 0x00000001,
+};
+
+const TEST_MODE_COMMAND: Message = Message {
+    id: 0x601,
+    command: 0x2B,
+    index: 0x2031,
+    subindex: 0x00,
+    data: 0x00000060,
+};
+
+const ENTER_STOP_STATE: Message = Message {
+    id: 0x000,
+    command: 0x02,
+    index: 0x0000,
+    subindex: 0x00,
+    data: 0x00000000,
+};
+
+const ENTER_PREOPERATIONAL_STATE: Message = Message {
+    id: 0x000,
+    command: 0x03,
+    index: 0x0000,
+    subindex: 0x00,
+    data: 0x00000000,
+};
+
+const ENTER_OPERATIONAL_STATE: Message = Message {
+    id: 0x000,
+    command: 0x01,
+    index: 0x0000,
+    subindex: 0x00,
+    data: 0x00000000,
+};
+
+const SET_FREQUENCY: Message = Message {
+    id: 0x601,
+    command: 0x2B,
+    index: 0x2040,
+    subindex: 0x04,
+    data: 0x00000000,
+};
+
+const SHUTDOWN: Message = Message {
+    id: 0x601,
+    command: 0x2B,
+    index: 0x6040,
+    subindex: 0x00,
+    data: 0x00000006,
+};
+
+const SWITCH_ON: Message = Message {
+    id: 0x601,
+    command: 0x2B,
+    index: 0x6040,
+    subindex: 0x00,
+    data: 0x00000007,
+};
+
+const START_DRIVE: Message = Message {
+    id: 0x601,
+    command: 0x2B,
+    index: 0x6040,
+    subindex: 0x00,
+    data: 0x0000000F,
+};
+
+const QUICK_STOP: Message = Message {
+    id: 0x601,
+    command: 0x2B,
+    index: 0x6040,
+    subindex: 0x00,
+    data: 0x00000002,
+};