typedef struct
{
	uint16_t StatusWord;
	uint16_t ControlWord;
	uint16_t ZeroPosition; // Unit: Counts based on abs encoder
	float HomePosition; // Unit: Degrees
	uint16_t AbsPosition;
	uint16_t IncPosition;
	bool IsEnabled; // Shows whether it is included in the motion or not
	int32_t Trajectory[MAX_MOTION_LEN];
	DriveObjectsType DriveInfo;
	int32_t LimitMin;
	int32_t LimitMax;
	EMainSensorType MainSensor;
} ExoDriveType;

/**
 * @brief Data type to represent the exoskeleton
 */
typedef struct
{
	ExoDriveType Motors[MAX_NO_OF_MOTORS]; //TODO: Dynamic memory allocation
	uint8_t NoOfMotors;
	uint32_t MotionLen;
	uint16_t IntPolTime;
	EExoState State;
	EExoState PrevState;
	volatile uint32_t CurPosIndex;
} ExoType;