{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-firmware/issues/34","labels_url":"https://api.github.com/repos/robotology/icub-firmware/issues/34/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-firmware/issues/34/comments","events_url":"https://api.github.com/repos/robotology/icub-firmware/issues/34/events","html_url":"https://github.com/robotology/icub-firmware/issues/34","id":117631158,"number":34,"title":"Increase the status of joints","user":{"login":"marcoaccame","id":7148284,"avatar_url":"https://avatars.githubusercontent.com/u/7148284?v=3","gravatar_id":"","url":"https://api.github.com/users/marcoaccame","html_url":"https://github.com/marcoaccame","followers_url":"https://api.github.com/users/marcoaccame/followers","following_url":"https://api.github.com/users/marcoaccame/following{/other_user}","gists_url":"https://api.github.com/users/marcoaccame/gists{/gist_id}","starred_url":"https://api.github.com/users/marcoaccame/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marcoaccame/subscriptions","organizations_url":"https://api.github.com/users/marcoaccame/orgs","repos_url":"https://api.github.com/users/marcoaccame/repos","events_url":"https://api.github.com/users/marcoaccame/events{/privacy}","received_events_url":"https://api.github.com/users/marcoaccame/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"marcoaccame","id":7148284,"avatar_url":"https://avatars.githubusercontent.com/u/7148284?v=3","gravatar_id":"","url":"https://api.github.com/users/marcoaccame","html_url":"https://github.com/marcoaccame","followers_url":"https://api.github.com/users/marcoaccame/followers","following_url":"https://api.github.com/users/marcoaccame/following{/other_user}","gists_url":"https://api.github.com/users/marcoaccame/gists{/gist_id}","starred_url":"https://api.github.com/users/marcoaccame/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marcoaccame/subscriptions","organizations_url":"https://api.github.com/users/marcoaccame/orgs","repos_url":"https://api.github.com/users/marcoaccame/repos","events_url":"https://api.github.com/users/marcoaccame/events{/privacy}","received_events_url":"https://api.github.com/users/marcoaccame/received_events","type":"User","site_admin":false},"milestone":null,"comments":6,"created_at":"2015-11-18T16:56:51Z","updated_at":"2015-11-19T09:25:17Z","closed_at":null,"body":"There is the need to increase / reorganize the status of joints. in particular, it is required to add some entries in data structures related to the status of PIDs."},"comment":{"url":"https://api.github.com/repos/robotology/icub-firmware/issues/comments/157999176","html_url":"https://github.com/robotology/icub-firmware/issues/34#issuecomment-157999176","issue_url":"https://api.github.com/repos/robotology/icub-firmware/issues/34","id":157999176,"user":{"login":"valegagge","id":4233231,"avatar_url":"https://avatars.githubusercontent.com/u/4233231?v=3","gravatar_id":"","url":"https://api.github.com/users/valegagge","html_url":"https://github.com/valegagge","followers_url":"https://api.github.com/users/valegagge/followers","following_url":"https://api.github.com/users/valegagge/following{/other_user}","gists_url":"https://api.github.com/users/valegagge/gists{/gist_id}","starred_url":"https://api.github.com/users/valegagge/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/valegagge/subscriptions","organizations_url":"https://api.github.com/users/valegagge/orgs","repos_url":"https://api.github.com/users/valegagge/repos","events_url":"https://api.github.com/users/valegagge/events{/privacy}","received_events_url":"https://api.github.com/users/valegagge/received_events","type":"User","site_admin":false},"created_at":"2015-11-19T09:25:17Z","updated_at":"2015-11-19T09:25:17Z","body":"In short new structures are:\r\n\r\n```C\r\n\r\n/** @typedef    typedef struct eOmc_status_ofpid_generic_t\r\n    @brief      contains the status of a generic PID \r\n **/\r\ntypedef struct\r\n{\r\n    int32_t                     reference1;     /**< the */\r\n    int32_t                     reference2;     /**< the */\r\n    int32_t                     error1;         /**< the */\r\n    int32_t                     error2;         /**< the */\r\n    int32_t                     output;         /**< the output */  \r\n} eOmc_status_ofpid_generic_t;  EO_VERIFYsizeof(eOmc_status_ofpid_generic_t, 20);\r\n\r\n\r\n/** @typedef    typedef struct eOmc_status_ofpid_olo_t\r\n    @brief      contains the status of an openloop PID \r\n **/\r\ntypedef struct\r\n{\r\n    int32_t                     refolo;         /**< the */\r\n    int32_t                     dummyref2;\r\n    int32_t                     dummyerr1;\r\n    int32_t                     dummyerr2;\r\n    int32_t                     output;         /**< the output */  \r\n} eOmc_status_ofpid_olo_t;      EO_VERIFYsizeof(eOmc_status_ofpid_olo_t, 20);\r\n\r\n/** @typedef    typedef struct eOmc_status_ofpid_pos_t\r\n    @brief      contains the status of a position PID \r\n **/\r\ntypedef struct\r\n{\r\n    int32_t                     refpos;         /**< the */\r\n    int32_t                     dummyref2;      /**< the */\r\n    int32_t                     errpos;         /**< the error */ \r\n    int32_t                     dummyerr2;\r\n    int32_t                     output;         /**< the output */    \r\n} eOmc_status_ofpid_pos_t;      EO_VERIFYsizeof(eOmc_status_ofpid_pos_t, 20);\r\n\r\n\r\n/** @typedef    typedef struct eOmc_status_ofpid_trq_t\r\n    @brief      contains the status of a torque PID \r\n **/\r\ntypedef struct\r\n{\r\n    int32_t                     dummyref1;       \r\n    int32_t                     reftrq;                 /**< the */\r\n    int32_t                    dummyerr1;         /**< the error */ \r\n    int32_t                     errtrq;\r\n    int32_t                     output;         /**< the output */  \r\n} eOmc_status_ofpid_trq_t;      EO_VERIFYsizeof(eOmc_status_ofpid_trq_t, 20);\r\n\r\n\r\n/** @typedef    typedef struct eOmc_status_ofpid_pos_t\r\n    @brief      contains the status of a compliant position PID \r\n **/\r\ntypedef struct\r\n{\r\n    int32_t                     refpos;         /**< the */\r\n    int32_t                     reftrq;         /**< the */\r\n    int32_t                     errpos;         /**< the error */ \r\n    int32_t                     errtrq;\r\n    int32_t                     output;         /**< the output of inner torque pid pos*/  \r\n} eOmc_status_ofpid_compPos_t;      EO_VERIFYsizeof(eOmc_status_ofpid_compPos_t, 20);\r\n\r\n/** @typedef    typedef uinion eOmc_joint_status_ofpid_t\r\n    @brief      eOmc_joint_status_ofpid_t contains the status of a PID.\r\n **/\r\ntypedef union                  \r\n{   \r\n    eOmc_status_ofpid_generic_t     generic;\r\n    eOmc_status_ofpid_olo_t            openloop;\r\n    eOmc_status_ofpid_pos_t           stiffpos;\r\n    eOmc_status_ofpid_compPos_t  complpos;\r\n    eOmc_status_ofpid_trq_t             torque;\r\n} eOmc_joint_status_ofpid_t;        EO_VERIFYsizeof(eOmc_joint_status_ofpid_t, 20);\r\n\r\n``` \r\n"}}