Calliope3Info.h

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//-*-c++-*-
#ifndef INCLUDED_Calliope3Info_h
#define INCLUDED_Calliope3Info_h

#include "Calliope3Components.h"

//**** This file defines Calliope3 robot models in terms of the modular components defined in
//**** Calliope3Components.h.
//! Calliope with 2DOF arm and Microsof LifeCam camera on pan/tilt
namespace Calliope3Info {
  extern const char* const TargetName;
  
  using namespace Calliope3Components;
  using Calliope3Components::PIDJointOffset;
  using Calliope3Components::NumButtons;
  using Calliope3Components::buttonNames;
  using Calliope3Components::NumLEDs;
  using Calliope3Components::NumSensors;
  using Calliope3Components::sensorNames;
  
  using namespace Calliope3;
  using Calliope3::NumPIDJoints;
  using Calliope3::NumOutputs;
  using Calliope3::NumArms;
  using Calliope3::LEDOffset;
  using Calliope3::HeadTiltOffset;
  using Calliope3::MaxOutputSpeed;


  using namespace CameraLifeCam;

  const unsigned NumReferenceFrames = NumOutputs + 1/*base*/ + NumArms/*grippers*/ + 1/*camera*/ + 0/*IR sensors*/ + 0/*fingers*/;

  const char* const outputNames[NumReferenceFrames+1] = {
    "WHEEL:L",
    "WHEEL:R",
    "NECK:pan",
    "NECK:tilt",
    "ARM:base",
    "ARM:shoulder",
    "ARM:gripper",
    "LED:Power(Red)",
    "LED:Power(Green)",
    "LED:Spot",
    "LED:CheckRobot",
    "LED:Debris",
    "LED:Home",
    "DesiredMode",
    "BaseFrame",
    "GripperFrame",
    "CameraFrame",
    NULL
  };
  
  class Calliope3Capabilities : public Capabilities {
  public:
    Calliope3Capabilities()
    : Capabilities(TargetName, NumReferenceFrames, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, LEDOffset, NumLEDs, NumOutputs)
    {
      frameToIndex["NECK:nod"] = HeadTiltOffset;
    }
  };

  extern const Calliope3Capabilities capabilities;
}
/*! @file
 * @brief Defines some capabilities of the Calliope robot, based on the iRobot Create
 * @author ejt (Creator)
 */

#ifdef __RI_RAD_FLAG
#  undef RAD
#  undef __RI_RAD_FLAG
#endif


#endif