CalliopeComponents.h File Reference
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
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Namespaces | |
| namespace | CalliopeComponents |
Contains information about a Calliope robot, such as number of joints, LEDs, etc. | |
| namespace | CalliopeComponents::WithoutAXS1Sensors |
| namespace | CalliopeComponents::WithAXS1Sensors |
| namespace | CalliopeComponents::WithHead |
| namespace | CalliopeComponents::CalliopeInfo |
| namespace | CalliopeComponents::Calliope0 |
| namespace | CalliopeComponents::Calliope2 |
| namespace | CalliopeComponents::Calliope5 |
| namespace | CalliopeComponents::Calliope5::WithoutAXS1Sensors |
| namespace | CalliopeComponents::Calliope5::WithAXS1Sensors |
Defines | |
| #define | TGT_IS_CALLIOPE |
| #define | TGT_IS_CALLIOPE2 |
| #define | TGT_IS_CREATE |
| #define | TGT_HAS_WHEELS 2 |
| #define | TGT_HAS_BUTTONS 15 |
| #define | TGT_HAS_LEDS 4 |
| #define | TGT_HAS_CAMERA 1 |
| #define | TGT_HAS_HEAD 1 |
| #define | TGT_HAS_ARMS 1 |
| #define | TGT_HAS_GRIPPER 1 |
| #define | TGT_HAS_ARMS 1 |
| #define | TGT_HAS_GRIPPER 1 |
| #define | TGT_HAS_FINGERS 2 |
| #define | TGT_HAS_IR_DISTANCE 3 |
| #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 | CalliopeComponents::CalliopeInfo::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| typedef unsigned int | CalliopeComponents::Calliope0::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| typedef unsigned int | CalliopeComponents::Calliope2::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| typedef unsigned int | CalliopeComponents::Calliope5::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
Enumerations | |
| enum | CalliopeComponents::WithAXS1Sensors::AXS1SensorOffset_t { CalliopeComponents::WithAXS1Sensors::LeftIRDistOffset = GPSHeadingOffset+1, CalliopeComponents::WithAXS1Sensors::CenterIRDistOffset, CalliopeComponents::WithAXS1Sensors::IRDistOffset = CenterIRDistOffset, CalliopeComponents::WithAXS1Sensors::RightIRDistOffset, CalliopeComponents::WithAXS1Sensors::LeftLuminosityOffset, CalliopeComponents::WithAXS1Sensors::CenterLuminosityOffset, CalliopeComponents::WithAXS1Sensors::RightLuminosityOffset, CalliopeComponents::WithAXS1Sensors::MicVolumeOffset, CalliopeComponents::WithAXS1Sensors::MicSpikeCountOffset } |
| enum | CalliopeComponents::WithHead::TPROffset_t { CalliopeComponents::WithHead::PanOffset = 0, CalliopeComponents::WithHead::TiltOffset, CalliopeComponents::WithHead::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 | CalliopeComponents::WithHead::HeadOffset_t { CalliopeComponents::WithHead::HeadPanOffset = HeadOffset, CalliopeComponents::WithHead::HeadTiltOffset } |
These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More... | |
| enum | CalliopeComponents::CalliopeInfo::LEDOffset_t { CalliopeComponents::CalliopeInfo::PowerRedLEDOffset = LEDOffset, CalliopeComponents::CalliopeInfo::PowerGreenLEDOffset, CalliopeComponents::CalliopeInfo::PlayLEDOffset, CalliopeComponents::CalliopeInfo::AdvanceLEDOffset } |
The offsets of the individual LEDs. More... | |
| enum | CalliopeComponents::Calliope0::LEDOffset_t { CalliopeComponents::Calliope0::PowerRedLEDOffset = LEDOffset, CalliopeComponents::Calliope0::PowerGreenLEDOffset, CalliopeComponents::Calliope0::PlayLEDOffset, CalliopeComponents::Calliope0::AdvanceLEDOffset } |
The offsets of the individual LEDs. More... | |
| enum | CalliopeComponents::Calliope2::ArmOffset_t { CalliopeComponents::Calliope2::ArmBaseOffset = ArmOffset, CalliopeComponents::Calliope2::ArmShoulderOffset, CalliopeComponents::Calliope2::GripperOffset } |
These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. More... | |
| enum | CalliopeComponents::Calliope2::LEDOffset_t { CalliopeComponents::Calliope2::PowerRedLEDOffset = LEDOffset, CalliopeComponents::Calliope2::PowerGreenLEDOffset, CalliopeComponents::Calliope2::PlayLEDOffset, CalliopeComponents::Calliope2::AdvanceLEDOffset } |
The offsets of the individual LEDs. More... | |
| enum | CalliopeComponents::Calliope5::ArmOffset_t { CalliopeComponents::Calliope5::ArmBaseOffset = ArmOffset, CalliopeComponents::Calliope5::ArmShoulderOffset, CalliopeComponents::Calliope5::ArmElbowOffset, CalliopeComponents::Calliope5::ArmWristOffset, CalliopeComponents::Calliope5::WristRotateOffset, CalliopeComponents::Calliope5::LeftFingerOffset, CalliopeComponents::Calliope5::RightFingerOffset } |
These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. More... | |
| enum | CalliopeComponents::Calliope5::LEDOffset_t { CalliopeComponents::Calliope5::PowerRedLEDOffset = LEDOffset, CalliopeComponents::Calliope5::PowerGreenLEDOffset, CalliopeComponents::Calliope5::PlayLEDOffset, CalliopeComponents::Calliope5::AdvanceLEDOffset } |
The offsets of the individual LEDs. More... | |
Variables | |
| const unsigned int | CalliopeComponents::FrameTime = 30 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | CalliopeComponents::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | CalliopeComponents::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const unsigned | CalliopeComponents::WithoutAXS1Sensors::NumSensors = 22 |
| the number of sensors available: 19 Create | |
| const char *const | CalliopeComponents::WithoutAXS1Sensors::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
| const unsigned | CalliopeComponents::WithAXS1Sensors::NumSensors = WithoutAXS1Sensors::NumSensors+3+3+2 |
| the number of sensors available: 19 Create plus 3 IR, 3 luminosity, 2 mic from AX-S1 | |
| const char *const | CalliopeComponents::WithAXS1Sensors::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
| const unsigned | CalliopeComponents::WithHead::NumHeadJoints = 2 |
| The number of joints in the pan/tilt. | |
| const unsigned | CalliopeComponents::WithHead::HeadOffset = WheelOffset+NumWheels |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | CalliopeComponents::CalliopeInfo::FingerJointsPerArm = 0 |
| const unsigned | CalliopeComponents::CalliopeInfo::JointsPerArm = 0 |
| const unsigned | CalliopeComponents::CalliopeInfo::NumArms = 0 |
| const unsigned | CalliopeComponents::CalliopeInfo::NumArmJoints = JointsPerArm*NumArms |
| const unsigned | CalliopeComponents::CalliopeInfo::NumHeadJoints = 0 |
| const unsigned | CalliopeComponents::CalliopeInfo::NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints |
| number of motors and servos | |
| const unsigned | CalliopeComponents::CalliopeInfo::NumOutputs = NumPIDJoints + NumLEDs + 1 |
| the total number of outputs | |
| const unsigned | CalliopeComponents::CalliopeInfo::LEDOffset = WheelOffset+NumWheels |
| const unsigned | CalliopeComponents::CalliopeInfo::ModeOffset = LEDOffset + NumLEDs |
| const unsigned | CalliopeComponents::CalliopeInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | CalliopeComponents::CalliopeInfo::CameraFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to camera reference frame. | |
| const LEDOffset_t | CalliopeComponents::CalliopeInfo::RedLEDOffset = PowerRedLEDOffset |
| const LEDOffset_t | CalliopeComponents::CalliopeInfo::BlueLEDOffset = AdvanceLEDOffset |
| Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask. | |
| const LEDOffset_t | CalliopeComponents::CalliopeInfo::GreenLEDOffset = PlayLEDOffset |
| const LEDOffset_t | CalliopeComponents::CalliopeInfo::YellowLEDOffset = AdvanceLEDOffset |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::BlueLEDMask |
| Create has no blue LED, so use Advance (green) + Power (red). | |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::RedLEDMask = 1<<(RedLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset) |
| mask corresponding to BlueLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | CalliopeComponents::CalliopeInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
| const float | CalliopeComponents::CalliopeInfo::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | CalliopeComponents::CalliopeInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | CalliopeComponents::CalliopeInfo::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 | CalliopeComponents::Calliope0::FingerJointsPerArm = 0 |
| const unsigned | CalliopeComponents::Calliope0::JointsPerArm = 0 |
| const unsigned | CalliopeComponents::Calliope0::NumArms = 0 |
| const unsigned | CalliopeComponents::Calliope0::NumArmJoints = JointsPerArm*NumArms |
| const unsigned | CalliopeComponents::Calliope0::NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints |
| number of motors and servos | |
| const unsigned | CalliopeComponents::Calliope0::NumOutputs = NumPIDJoints + NumLEDs + 1 |
| the total number of outputs | |
| const unsigned | CalliopeComponents::Calliope0::LEDOffset = WheelOffset+NumWheels |
| const unsigned | CalliopeComponents::Calliope0::ModeOffset = LEDOffset + NumLEDs |
| const unsigned | CalliopeComponents::Calliope0::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | CalliopeComponents::Calliope0::CameraFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to camera reference frame. | |
| const unsigned | CalliopeComponents::Calliope0::LeftIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to left IR distance rangefinder reference frame. | |
| const unsigned | CalliopeComponents::Calliope0::CenterIRFrameOffset = LeftIRFrameOffset+1 |
| Use with kinematics to refer to center IR distance rangefinder reference frame. | |
| const unsigned | CalliopeComponents::Calliope0::IRFrameOffset = CenterIRFrameOffset |
| alias for CenterIRFrameOffset | |
| const unsigned | CalliopeComponents::Calliope0::RightIRFrameOffset = CenterIRFrameOffset+1 |
| Use with kinematics to refer to right IR distance rangefinder reference frame. | |
| const LEDOffset_t | CalliopeComponents::Calliope0::RedLEDOffset = PowerRedLEDOffset |
| const LEDOffset_t | CalliopeComponents::Calliope0::BlueLEDOffset = AdvanceLEDOffset |
| Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask. | |
| const LEDOffset_t | CalliopeComponents::Calliope0::GreenLEDOffset = PlayLEDOffset |
| const LEDOffset_t | CalliopeComponents::Calliope0::YellowLEDOffset = AdvanceLEDOffset |
| const LEDBitMask_t | CalliopeComponents::Calliope0::BlueLEDMask |
| Create has no blue LED, so use Advance (green) + Power (red). | |
| const LEDBitMask_t | CalliopeComponents::Calliope0::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope0::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope0::RedLEDMask = 1<<(RedLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope0::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset) |
| mask corresponding to BlueLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope0::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope0::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope0::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope0::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | CalliopeComponents::Calliope0::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
| const float | CalliopeComponents::Calliope0::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | CalliopeComponents::Calliope0::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | CalliopeComponents::Calliope0::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 | CalliopeComponents::Calliope2::FingerJointsPerArm = 1 |
| const unsigned | CalliopeComponents::Calliope2::JointsPerArm = 3 |
| 2 arm joints plus gripper | |
| const unsigned | CalliopeComponents::Calliope2::NumArms = 1 |
| const unsigned | CalliopeComponents::Calliope2::NumArmJoints = JointsPerArm*NumArms |
| const unsigned | CalliopeComponents::Calliope2::NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints |
| number of motors and servos | |
| const unsigned | CalliopeComponents::Calliope2::NumOutputs = NumPIDJoints + NumLEDs + 1 |
| the total number of outputs | |
| const unsigned | CalliopeComponents::Calliope2::ArmOffset = HeadOffset+NumHeadJoints |
| const unsigned | CalliopeComponents::Calliope2::LEDOffset = ArmOffset+NumArmJoints |
| const unsigned | CalliopeComponents::Calliope2::ModeOffset = LEDOffset + NumLEDs |
| const unsigned | CalliopeComponents::Calliope2::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | CalliopeComponents::Calliope2::GripperFrameOffset = BaseFrameOffset + 1 |
| Use with kinematics to refer to gripper reference frame. | |
| const unsigned | CalliopeComponents::Calliope2::CameraFrameOffset = GripperFrameOffset+NumArms |
| Use with kinematics to refer to camera reference frame. | |
| const unsigned | CalliopeComponents::Calliope2::LeftIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to left IR distance rangefinder reference frame. | |
| const unsigned | CalliopeComponents::Calliope2::CenterIRFrameOffset = LeftIRFrameOffset+1 |
| Use with kinematics to refer to center IR distance rangefinder reference frame. | |
| const unsigned | CalliopeComponents::Calliope2::IRFrameOffset = CenterIRFrameOffset |
| alias for CenterIRFrameOffset | |
| const unsigned | CalliopeComponents::Calliope2::RightIRFrameOffset = CenterIRFrameOffset+1 |
| Use with kinematics to refer to right IR distance rangefinder reference frame. | |
| const LEDOffset_t | CalliopeComponents::Calliope2::RedLEDOffset = PowerRedLEDOffset |
| const LEDOffset_t | CalliopeComponents::Calliope2::BlueLEDOffset = AdvanceLEDOffset |
| Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask. | |
| const LEDOffset_t | CalliopeComponents::Calliope2::GreenLEDOffset = PlayLEDOffset |
| const LEDOffset_t | CalliopeComponents::Calliope2::YellowLEDOffset = AdvanceLEDOffset |
| const LEDBitMask_t | CalliopeComponents::Calliope2::BlueLEDMask |
| Create has no blue LED, so use Advance (green) + Power (red). | |
| const LEDBitMask_t | CalliopeComponents::Calliope2::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope2::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope2::RedLEDMask = 1<<(RedLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope2::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset) |
| mask corresponding to BlueLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope2::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope2::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope2::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope2::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | CalliopeComponents::Calliope2::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
| const float | CalliopeComponents::Calliope2::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | CalliopeComponents::Calliope2::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | CalliopeComponents::Calliope2::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 | CalliopeComponents::Calliope5::FingerJointsPerArm = 2 |
| const unsigned | CalliopeComponents::Calliope5::JointsPerArm = 7 |
| 5 arms joints plus two fingers | |
| const unsigned | CalliopeComponents::Calliope5::NumArms = 1 |
| const unsigned | CalliopeComponents::Calliope5::NumArmJoints = JointsPerArm*NumArms |
| const unsigned | CalliopeComponents::Calliope5::NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints |
| number of motors and servos | |
| const unsigned | CalliopeComponents::Calliope5::NumOutputs = NumPIDJoints + NumLEDs + 1 |
| the total number of outputs | |
| const unsigned | CalliopeComponents::Calliope5::ArmOffset = HeadOffset+NumHeadJoints |
| const unsigned | CalliopeComponents::Calliope5::LEDOffset = ArmOffset+NumArmJoints |
| const unsigned | CalliopeComponents::Calliope5::ModeOffset = LEDOffset + NumLEDs |
| const unsigned | CalliopeComponents::Calliope5::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | CalliopeComponents::Calliope5::GripperFrameOffset = BaseFrameOffset + 1 |
| Use with kinematics to refer to gripper reference frame. | |
| const unsigned | CalliopeComponents::Calliope5::LeftFingerFrameOffset = GripperFrameOffset+1 |
| Use with kinematics to refer to the left finger reference frame. | |
| const unsigned | CalliopeComponents::Calliope5::RightFingerFrameOffset = LeftFingerFrameOffset+1 |
| Use with kinematics to refer to the right finger reference frame. | |
| const unsigned | CalliopeComponents::Calliope5::CameraFrameOffset = RightFingerFrameOffset+NumArms |
| Use with kinematics to refer to camera reference frame. | |
| const unsigned | CalliopeComponents::Calliope5::WithAXS1Sensors::LeftIRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to left IR distance rangefinder reference frame. | |
| const unsigned | CalliopeComponents::Calliope5::WithAXS1Sensors::CenterIRFrameOffset = LeftIRFrameOffset+1 |
| Use with kinematics to refer to center IR distance rangefinder reference frame. | |
| const unsigned | CalliopeComponents::Calliope5::WithAXS1Sensors::IRFrameOffset = CenterIRFrameOffset |
| alias for CenterIRFrameOffset | |
| const unsigned | CalliopeComponents::Calliope5::WithAXS1Sensors::RightIRFrameOffset = CenterIRFrameOffset+1 |
| Use with kinematics to refer to right IR distance rangefinder reference frame. | |
| const LEDOffset_t | CalliopeComponents::Calliope5::RedLEDOffset = PowerRedLEDOffset |
| const LEDOffset_t | CalliopeComponents::Calliope5::BlueLEDOffset = AdvanceLEDOffset |
| Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask. | |
| const LEDOffset_t | CalliopeComponents::Calliope5::GreenLEDOffset = PlayLEDOffset |
| const LEDOffset_t | CalliopeComponents::Calliope5::YellowLEDOffset = AdvanceLEDOffset |
| const LEDBitMask_t | CalliopeComponents::Calliope5::BlueLEDMask |
| Create has no blue LED, so use Advance (green) + Power (red). | |
| const LEDBitMask_t | CalliopeComponents::Calliope5::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope5::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope5::RedLEDMask = 1<<(RedLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope5::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset) |
| mask corresponding to BlueLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope5::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope5::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope5::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CalliopeComponents::Calliope5::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | CalliopeComponents::Calliope5::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
| const float | CalliopeComponents::Calliope5::DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | CalliopeComponents::Calliope5::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/s. | |
| const float | CalliopeComponents::Calliope5::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). | |
Output Types Information | |
| const unsigned | CalliopeComponents::NumWheels = 2 |
| The number of joints per leg. | |
| const unsigned | CalliopeComponents::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | CalliopeComponents::NumLegs = 0 |
| The number of legs. | |
| const unsigned | CalliopeComponents::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | CalliopeComponents::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | CalliopeComponents::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | CalliopeComponents::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | CalliopeComponents::NumButtons = 15 |
| the number of buttons that are available | |
| const unsigned | CalliopeComponents::NumLEDs = 4 |
| The number of LEDs which can be controlled. | |
| const unsigned | CalliopeComponents::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
Output Offsets | |
Corresponds to entries in outputNames, defined at the end of this file | |
| enum | CalliopeComponents::WheelOffset_t { CalliopeComponents::LWheelOffset = WheelOffset, CalliopeComponents::RWheelOffset } |
The beginning of the PID Joints. More... | |
| const unsigned | CalliopeComponents::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | CalliopeComponents::WheelOffset = PIDJointOffset |
| The beginning of the PID Joints. | |
| const fmat::Column< 3 > | CalliopeComponents::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 > | CalliopeComponents::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 | CalliopeComponents::ButtonOffset_t { CalliopeComponents::PlayButOffset, CalliopeComponents::AdvanceButOffset, CalliopeComponents::WallButOffset, CalliopeComponents::DropCasterButOffset, CalliopeComponents::DropLeftWheelButOffset, CalliopeComponents::DropRightWheelButOffset, CalliopeComponents::BumpLeftButOffset, CalliopeComponents::BumpRightButOffset, CalliopeComponents::OvercurrentLeftWheelOffset, CalliopeComponents::OvercurrentRightWheelOffset, CalliopeComponents::LowSideDriver0ButOffset, CalliopeComponents::LowSideDriver1ButOffset, CalliopeComponents::LowSideDriver2ButOffset, CalliopeComponents::BaseChargerButOffset, CalliopeComponents::InternalChargerButOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | CalliopeComponents::SensorOffset_t { CalliopeComponents::DigitalInput0Offset, CalliopeComponents::DigitalInput1Offset, CalliopeComponents::DigitalInput2Offset, CalliopeComponents::DigitalInput3Offset, CalliopeComponents::AnalogSignalOffset, CalliopeComponents::WallSignalOffset, CalliopeComponents::IRCommOffset, CalliopeComponents::CliffLeftSignalOffset, CalliopeComponents::CliffFrontLeftSignalOffset, CalliopeComponents::CliffFrontRightSignalOffset, CalliopeComponents::CliffRightSignalOffset, CalliopeComponents::EncoderDistanceOffset, CalliopeComponents::EncoderAngleOffset, CalliopeComponents::VoltageOffset, CalliopeComponents::CurrentOffset, CalliopeComponents::BatteryChargeOffset, CalliopeComponents::BatteryTempOffset, CalliopeComponents::ChargingStateOffset, CalliopeComponents::ModeStateOffset, CalliopeComponents::GPSXOffset, CalliopeComponents::GPSYOffset, CalliopeComponents::GPSHeadingOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| enum | CalliopeComponents::IRComm_t { CalliopeComponents::IR_REMOTE_LEFT = 129, CalliopeComponents::IR_REMOTE_FORWARD, CalliopeComponents::IR_REMOTE_RIGHT, CalliopeComponents::IR_REMOTE_SPOT, CalliopeComponents::IR_REMOTE_MAX, CalliopeComponents::IR_REMOTE_SMALL, CalliopeComponents::IR_REMOTE_MEDIUM, CalliopeComponents::IR_REMOTE_LARGE, CalliopeComponents::IR_REMOTE_PAUSE, CalliopeComponents::IR_REMOTE_POWER, CalliopeComponents::IR_REMOTE_ARC_LEFT, CalliopeComponents::IR_REMOTE_ARC_RIGHT, CalliopeComponents::IR_REMOTE_STOP, CalliopeComponents::IR_REMOTE_SEND, CalliopeComponents::IR_REMOTE_DOCK, CalliopeComponents::IR_BASE_RED = 248, CalliopeComponents::IR_BASE_GREEN = 244, CalliopeComponents::IR_BASE_FORCE = 242, CalliopeComponents::IR_BASE_RED_GREEN = 252, CalliopeComponents::IR_BASE_RED_FORCE = 250, CalliopeComponents::IR_BASE_GREEN_FORCE = 246, CalliopeComponents::IR_BASE_RED_GREEN_FORCE = 254 } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | CalliopeComponents::ChargingState_t { CalliopeComponents::CHARGING_OFF, CalliopeComponents::CHARGING_RECONDITIONING, CalliopeComponents::CHARGING_FULL, CalliopeComponents::CHARGING_TRICKLE, CalliopeComponents::CHARGING_WAITING, CalliopeComponents::CHARGING_FAULT } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | CalliopeComponents::ModeState_t { CalliopeComponents::MODE_OFF, CalliopeComponents::MODE_PASSIVE, CalliopeComponents::MODE_SAFE, CalliopeComponents::MODE_FULL } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| const ButtonOffset_t | CalliopeComponents::GreenButOffset = PlayButOffset |
| holds offsets to different buttons in WorldState::buttons[] | |
| const ButtonOffset_t | CalliopeComponents::YellowButOffset = AdvanceButOffset |
| holds offsets to different buttons in WorldState::buttons[] | |
| const ButtonOffset_t | CalliopeComponents::RedButOffset = PlayButOffset |
| holds offsets to different buttons in WorldState::buttons[] | |
| const char *const | CalliopeComponents::buttonNames [NumButtons+1] |
| Provides a string name for each button. | |
Define Documentation
| #define __RI_RAD_FLAG |
a flag so we undef these after we're done - do you have a cleaner solution?
Definition at line 75 of file CalliopeComponents.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 73 of file CalliopeComponents.h.
| #define TGT_HAS_ARMS 1 |
Definition at line 61 of file CalliopeComponents.h.
| #define TGT_HAS_ARMS 1 |
Definition at line 61 of file CalliopeComponents.h.
| #define TGT_HAS_BUTTONS 15 |
Definition at line 43 of file CalliopeComponents.h.
| #define TGT_HAS_CAMERA 1 |
Definition at line 45 of file CalliopeComponents.h.
| #define TGT_HAS_FINGERS 2 |
Definition at line 63 of file CalliopeComponents.h.
| #define TGT_HAS_GRIPPER 1 |
Definition at line 62 of file CalliopeComponents.h.
| #define TGT_HAS_GRIPPER 1 |
Definition at line 62 of file CalliopeComponents.h.
| #define TGT_HAS_HEAD 1 |
Definition at line 50 of file CalliopeComponents.h.
| #define TGT_HAS_IR_DISTANCE 3 |
Definition at line 68 of file CalliopeComponents.h.
| #define TGT_HAS_LEDS 4 |
Definition at line 44 of file CalliopeComponents.h.
| #define TGT_HAS_WHEELS 2 |
Definition at line 42 of file CalliopeComponents.h.
| #define TGT_IS_CALLIOPE |
Definition at line 26 of file CalliopeComponents.h.
| #define TGT_IS_CALLIOPE2 |
Definition at line 27 of file CalliopeComponents.h.
| #define TGT_IS_CREATE |
Definition at line 41 of file CalliopeComponents.h.
