Namespaces |
| namespace | Calliope3Components |
| | Contains information about a Calliope robot, such as number of joints, LEDs, etc.
|
| namespace | Calliope3Components::Calliope3 |
Defines |
| #define | RAD(deg) (((deg) * (float)M_PI ) / 180.0f) |
| | Just a little macro for converting degrees to radians.
|
| #define | __RI_RAD_FLAG |
| | a flag so we undef these after we're done - do you have a cleaner solution?
|
Typedefs |
| typedef unsigned int | Calliope3Components::Calliope3::LEDBitMask_t |
| | So you can be clear when you're refering to a LED bitmask.
|
Enumerations |
| enum | Calliope3Components::Calliope3::TPROffset_t { Calliope3Components::Calliope3::PanOffset = 0,
Calliope3Components::Calliope3::TiltOffset,
Calliope3Components::Calliope3::NodOffset = TiltOffset
} |
| | The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
More...
|
| enum | Calliope3Components::Calliope3::HeadOffset_t { Calliope3Components::Calliope3::HeadPanOffset = HeadOffset,
Calliope3Components::Calliope3::HeadTiltOffset
} |
| | These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do.
More...
|
| enum | Calliope3Components::Calliope3::ArmOffset_t { Calliope3Components::Calliope3::ArmBaseOffset = ArmOffset,
Calliope3Components::Calliope3::ArmShoulderOffset,
Calliope3Components::Calliope3::GripperOffset
} |
| | These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do.
More...
|
| enum | Calliope3Components::Calliope3::LEDOffset_t { Calliope3Components::Calliope3::PowerRedLEDOffset = LEDOffset,
Calliope3Components::Calliope3::PowerGreenLEDOffset,
Calliope3Components::Calliope3::PlayLEDOffset,
Calliope3Components::Calliope3::AdvanceLEDOffset
} |
| | The offsets of the individual LEDs.
More...
|
Variables |
| const unsigned int | Calliope3Components::FrameTime = 30 |
| | time between frames in the motion system (milliseconds)
|
| const unsigned int | Calliope3Components::NumFrames = 1 |
| | the number of frames per buffer (don't forget also double buffered)
|
| const unsigned int | Calliope3Components::SoundBufferTime = 32 |
| | the number of milliseconds per sound buffer... I'm not sure if this can be changed
|
| const float | Calliope3Components::wheelDiameter = 72.0 |
| | Create 2 wheel diameter in mm.
|
| const float | Calliope3Components::wheelBase = 235.0 |
| | Create 2 wheel base in mm.
|
| const float | Calliope3Components::encoderTicksPerRev = 508.8 |
| | Number of encoder ticks per wheel revolution.
|
| const unsigned | Calliope3Components::Calliope3::NumHeadJoints = 2 |
| | The number of joints in the pan/tilt.
|
| const unsigned | Calliope3Components::Calliope3::HeadOffset = WheelOffset+NumWheels |
| | the offset of the beginning of the head joints, add TPROffset_t to get specific joint
|
| const unsigned | Calliope3Components::Calliope3::FingerJointsPerArm = 1 |
| const unsigned | Calliope3Components::Calliope3::JointsPerArm = 3 |
| | 2 arm joints plus gripper
|
| const unsigned | Calliope3Components::Calliope3::NumArms = 1 |
| const unsigned | Calliope3Components::Calliope3::NumArmJoints = JointsPerArm*NumArms |
| const unsigned | Calliope3Components::Calliope3::NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints |
| | number of motors and servos
|
| const unsigned | Calliope3Components::Calliope3::NumOutputs = NumPIDJoints + NumLEDs + 1 |
| | the total number of outputs
|
| const unsigned | Calliope3Components::Calliope3::ArmOffset = HeadOffset+NumHeadJoints |
| const unsigned | Calliope3Components::Calliope3::LEDOffset = ArmOffset+NumArmJoints |
| const unsigned | Calliope3Components::Calliope3::ModeOffset = LEDOffset + NumLEDs |
| const unsigned | Calliope3Components::Calliope3::BaseFrameOffset = NumOutputs |
| | Use with kinematics to refer to base reference frame.
|
| const unsigned | Calliope3Components::Calliope3::GripperFrameOffset = BaseFrameOffset + 1 |
| | Use with kinematics to refer to gripper reference frame.
|
| const unsigned | Calliope3Components::Calliope3::CameraFrameOffset = GripperFrameOffset+NumArms |
| | Use with kinematics to refer to camera reference frame.
|
| const LEDOffset_t | Calliope3Components::Calliope3::RedLEDOffset = PowerRedLEDOffset |
| const LEDOffset_t | Calliope3Components::Calliope3::BlueLEDOffset = AdvanceLEDOffset |
| | Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask.
|
| const LEDOffset_t | Calliope3Components::Calliope3::GreenLEDOffset = PlayLEDOffset |
| const LEDOffset_t | Calliope3Components::Calliope3::YellowLEDOffset = AdvanceLEDOffset |
| const LEDBitMask_t | Calliope3Components::Calliope3::BlueLEDMask |
| | Create has no blue LED, so use Advance (green) + Power (red).
|
| const LEDBitMask_t | Calliope3Components::Calliope3::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset) |
| | mask corresponding to GreenLEDOffset
|
| const LEDBitMask_t | Calliope3Components::Calliope3::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset) |
| | mask corresponding to YellowLEDOffset
|
| const LEDBitMask_t | Calliope3Components::Calliope3::RedLEDMask = 1<<(RedLEDOffset-LEDOffset) |
| | mask corresponding to RedLEDOffset
|
| const LEDBitMask_t | Calliope3Components::Calliope3::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset) |
| | mask corresponding to BlueLEDOffset
|
| const LEDBitMask_t | Calliope3Components::Calliope3::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset) |
| | mask corresponding to GreenLEDOffset
|
| const LEDBitMask_t | Calliope3Components::Calliope3::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset) |
| | mask corresponding to YellowLEDOffset
|
| const LEDBitMask_t | Calliope3Components::Calliope3::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset) |
| | mask corresponding to RedLEDOffset
|
| const LEDBitMask_t | Calliope3Components::Calliope3::FaceLEDMask = 0 |
| | LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
|
| const LEDBitMask_t | Calliope3Components::Calliope3::AllLEDMask = (LEDBitMask_t)~0 |
| | selects all of the leds
|
| const float | Calliope3Components::Calliope3::DefaultPIDs [NumPIDJoints][3] |
| | This table holds the default PID values for each joint. see PIDMC.
|
| const float | Calliope3Components::Calliope3::MaxOutputSpeed [NumOutputs] |
| | These values are our recommended maximum joint velocities, in rad/ms.
|
| const float | Calliope3Components::Calliope3::outputRanges [NumOutputs][2] |
| | This table holds the software limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).
|
|
|
| const unsigned | Calliope3Components::NumWheels = 2 |
| | The number of joints per leg.
|
| const unsigned | Calliope3Components::JointsPerLeg = 0 |
| | The number of joints per leg.
|
| const unsigned | Calliope3Components::NumLegs = 0 |
| | The number of legs.
|
| const unsigned | Calliope3Components::NumLegJoints = JointsPerLeg*NumLegs |
| | the TOTAL number of joints on ALL legs
|
| const unsigned | Calliope3Components::NumTailJoints = 0 |
| | The number of joints assigned to the tail.
|
| const unsigned | Calliope3Components::NumMouthJoints = 0 |
| | the number of joints that control the mouth
|
| const unsigned | Calliope3Components::NumEarJoints = 0 |
| | The number of joints which control the ears (NOT per ear, is total).
|
| const unsigned | Calliope3Components::NumButtons = 31 |
| | the number of buttons that are available
|
| const unsigned | Calliope3Components::NumLEDs = 6 |
| | The number of LEDs which can be controlled.
|
| const unsigned | Calliope3Components::NumFacePanelLEDs = 0 |
| | The number of face panel LEDs.
|
| const unsigned | Calliope3Components::NumSensors = 36 |
| | the number of sensors available: 33 Create2 + 3 for GPS
|
Output Offsets |
Corresponds to entries in outputNames, defined at the end of this file
|
| enum | Calliope3Components::WheelOffset_t { Calliope3Components::LWheelOffset = WheelOffset,
Calliope3Components::RWheelOffset
} |
| | The beginning of the PID Joints.
More...
|
| const unsigned | Calliope3Components::PIDJointOffset = 0 |
| | The beginning of the PID Joints.
|
| const unsigned | Calliope3Components::WheelOffset = PIDJointOffset |
| | The beginning of the PID Joints.
|
| const fmat::Column< 3 > | Calliope3Components::AgentBoundingBoxBaseFrameOffset = fmat::pack(838.4/2-304.8/2,0,0) |
| | Offset needed so that the centroid of the robot is correct related to the bounding box.
|
| const fmat::Column< 3 > | Calliope3Components::AgentBoundingBoxHalfDims = fmat::pack(838.4/2, 304.8/2, 0) |
| | Half of the length, width, and height of the robot.
|
Input Offsets |
The order in which inputs should be stored
|
| enum | Calliope3Components::ButtonOffset_t {
Calliope3Components::WallButOffset,
Calliope3Components::DropLeftWheelButOffset,
Calliope3Components::DropRightWheelButOffset,
Calliope3Components::BumpLeftButOffset,
Calliope3Components::BumpRightButOffset,
Calliope3Components::CliffLeftButOffset,
Calliope3Components::CliffFrontLeftButOffset,
Calliope3Components::CliffFrontRightButOffset,
Calliope3Components::CliffRightButOffset,
Calliope3Components::VirtualWallButOffset,
Calliope3Components::OvercurrentLeftWheelOffset,
Calliope3Components::OvercurrentRightWheelOffset,
Calliope3Components::OvercurrentMainBrushOffset,
Calliope3Components::OvercurrentSideBrushOffset,
Calliope3Components::CleanButOffset,
Calliope3Components::SpotButOffset,
Calliope3Components::DockButOffset,
Calliope3Components::MinuteButOffset,
Calliope3Components::HourButOffset,
Calliope3Components::DayButOffset,
Calliope3Components::ScheduleButOffset,
Calliope3Components::ClockButOffset,
Calliope3Components::BaseChargerButOffset,
Calliope3Components::InternalChargerButOffset,
Calliope3Components::LtBumpRightOffset,
Calliope3Components::LtBumpFrontRightOffset,
Calliope3Components::LtBumpCenterRightOffset,
Calliope3Components::LtBumpCenterLeftOffset,
Calliope3Components::LtBumpFrontLeftOffset,
Calliope3Components::LtBumpLeftOffset,
Calliope3Components::StasisButOffset
} |
| | holds offsets to different buttons in WorldState::buttons[]
More...
|
| enum | Calliope3Components::SensorOffset_t {
Calliope3Components::WallSignalOffset,
Calliope3Components::DirtDetectOffset,
Calliope3Components::IRCommOffset,
Calliope3Components::IRLeftOffset,
Calliope3Components::IRRightOffset,
Calliope3Components::CliffLeftSignalOffset,
Calliope3Components::CliffFrontLeftSignalOffset,
Calliope3Components::CliffFrontRightSignalOffset,
Calliope3Components::CliffRightSignalOffset,
Calliope3Components::EncoderDistanceOffset,
Calliope3Components::EncoderAngleOffset,
Calliope3Components::VoltageOffset,
Calliope3Components::CurrentOffset,
Calliope3Components::BatteryChargeOffset,
Calliope3Components::BatteryTempOffset,
Calliope3Components::ChargingStateOffset,
Calliope3Components::ModeStateOffset,
Calliope3Components::ReqVelocityOffset,
Calliope3Components::ReqRadiusOffset,
Calliope3Components::ReqLeftVelocityOffset,
Calliope3Components::ReqRightVelocityOffset,
Calliope3Components::LeftEncoderOffset,
Calliope3Components::RightEncoderOffset,
Calliope3Components::LtBumpRightSignalOffset,
Calliope3Components::LtBumpFrontRightSignalOffset,
Calliope3Components::LtBumpCenterRightSignalOffset,
Calliope3Components::LtBumpCenterLeftSignalOffset,
Calliope3Components::LtBumpFrontLeftSignalOffset,
Calliope3Components::LtBumpLeftSignalOffset,
Calliope3Components::LeftMotorCurrentOffset,
Calliope3Components::RightMotorCurrentOffset,
Calliope3Components::SideBrushCurrentOffset,
Calliope3Components::MainBrushCurrentOffset,
Calliope3Components::GPSXOffset,
Calliope3Components::GPSYOffset,
Calliope3Components::GPSHeadingOffset
} |
| | holds offset to different sensor values in WorldState::sensors[]
More...
|
| enum | Calliope3Components::IRComm_t {
Calliope3Components::IR_REMOTE_LEFT = 129,
Calliope3Components::IR_REMOTE_FORWARD,
Calliope3Components::IR_REMOTE_RIGHT,
Calliope3Components::IR_REMOTE_SPOT,
Calliope3Components::IR_REMOTE_MAX,
Calliope3Components::IR_REMOTE_SMALL,
Calliope3Components::IR_REMOTE_MEDIUM,
Calliope3Components::IR_REMOTE_LARGE,
Calliope3Components::IR_REMOTE_PAUSE,
Calliope3Components::IR_REMOTE_POWER,
Calliope3Components::IR_REMOTE_ARC_LEFT,
Calliope3Components::IR_REMOTE_ARC_RIGHT,
Calliope3Components::IR_REMOTE_STOP,
Calliope3Components::IR_REMOTE_SEND,
Calliope3Components::IR_REMOTE_DOCK,
Calliope3Components::IR_BASE_RED = 248,
Calliope3Components::IR_BASE_GREEN = 244,
Calliope3Components::IR_BASE_FORCE = 242,
Calliope3Components::IR_BASE_RED_GREEN = 252,
Calliope3Components::IR_BASE_RED_FORCE = 250,
Calliope3Components::IR_BASE_GREEN_FORCE = 246,
Calliope3Components::IR_BASE_RED_GREEN_FORCE = 254,
Calliope3Components::IR_600_FORCE = 161,
Calliope3Components::IR_600_GREEN = 164,
Calliope3Components::IR_600_GREEN_FORCE,
Calliope3Components::IR_600_RED = 168,
Calliope3Components::IR_600_RED_FORCE,
Calliope3Components::IR_600_RED_GREEN = 172,
Calliope3Components::IR_600_RED_GREEN_FORCE,
Calliope3Components::IR_WALL = 162
} |
| | holds offsets to different buttons in WorldState::buttons[]
More...
|
| enum | Calliope3Components::ChargingState_t {
Calliope3Components::CHARGING_OFF,
Calliope3Components::CHARGING_RECONDITIONING,
Calliope3Components::CHARGING_FULL,
Calliope3Components::CHARGING_TRICKLE,
Calliope3Components::CHARGING_WAITING,
Calliope3Components::CHARGING_FAULT
} |
| | holds offsets to different buttons in WorldState::buttons[]
More...
|
| enum | Calliope3Components::ModeState_t { Calliope3Components::MODE_OFF,
Calliope3Components::MODE_PASSIVE,
Calliope3Components::MODE_SAFE,
Calliope3Components::MODE_FULL
} |
| | holds offsets to different buttons in WorldState::buttons[]
More...
|
| const ButtonOffset_t | Calliope3Components::GreenButOffset = CleanButOffset |
| | holds offsets to different buttons in WorldState::buttons[]
|
| const ButtonOffset_t | Calliope3Components::YellowButOffset = SpotButOffset |
| | holds offsets to different buttons in WorldState::buttons[]
|
| const ButtonOffset_t | Calliope3Components::RedButOffset = DockButOffset |
| | holds offsets to different buttons in WorldState::buttons[]
|
| const char *const | Calliope3Components::buttonNames [NumButtons+1] |
| | Provides a string name for each button.
|
| const char *const | Calliope3Components::sensorNames [NumSensors+1] |
| | Provides a string name for each sensor.
|
