CreateInfo.h File Reference
Defines some capabilities of the iRobot Create robots. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for CreateInfo.h:
Go to the source code of this file.
Namespaces | |
| namespace | CreateInfo |
Contains information about an iRobot Create, such as number of joints, LEDs, etc. | |
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? | |
Variables | |
| const char *const | CreateInfo::TargetName = "Create" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | CreateInfo::FrameTime = 15 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | CreateInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | CreateInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const fmat::Column< 3 > | CreateInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0) |
| Offset needed so that the centroid of the robot is correct related to the bounding box. | |
| const fmat::Column< 3 > | CreateInfo::AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0) |
| Half of the length, width, and height of the robot without gadgets (E.G arms). | |
| const char *const | CreateInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const Capabilities | CreateInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | CreateInfo::DefaultPIDs [NumPIDJoints+1][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | CreateInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | CreateInfo::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 float | CreateInfo::mechanicalLimits [NumOutputs][2] |
| This table holds the mechanical 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 | CreateInfo::NumWheels = 2 |
| The number of joints per leg. | |
| const unsigned | CreateInfo::FingerJointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | CreateInfo::JointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | CreateInfo::NumArms = 0 |
| The number of joints per leg. | |
| const unsigned | CreateInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | CreateInfo::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | CreateInfo::NumLegs = 0 |
| The number of legs. | |
| const unsigned | CreateInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | CreateInfo::NumHeadJoints = 0 |
| The number of joints in the neck. | |
| const unsigned | CreateInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | CreateInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | CreateInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | CreateInfo::NumButtons = 15 |
| the number of buttons that are available | |
| const unsigned | CreateInfo::NumSensors = 22 |
| the number of sensors available | |
| const unsigned | CreateInfo::NumLEDs = 4 |
| The number of LEDs which can be controlled. | |
| const unsigned | CreateInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | CreateInfo::NumPIDJoints = NumWheels |
| servo pins | |
| const unsigned | CreateInfo::NumOutputs = NumPIDJoints + NumLEDs + 1 |
| the total number of outputs | |
| const unsigned | CreateInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1 |
| for the base, gripper (* NumArms), and Camera | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | CreateInfo::TPROffset_t { CreateInfo::PanOffset = 0, CreateInfo::TiltOffset, CreateInfo::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 | CreateInfo::HeadOffset_t { CreateInfo::HeadPanOffset = HeadOffset, CreateInfo::HeadTiltOffset } |
These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More... | |
| enum | CreateInfo::WheelOffset_t { CreateInfo::LWheelOffset = WheelOffset, CreateInfo::RWheelOffset } |
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 | CreateInfo::LEDOffset_t { CreateInfo::PowerRedLEDOffset = LEDOffset, CreateInfo::PowerGreenLEDOffset, CreateInfo::PlayLEDOffset, CreateInfo::AdvanceLEDOffset } |
The offsets of the individual LEDs. More... | |
| typedef unsigned int | CreateInfo::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const unsigned | CreateInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | CreateInfo::WheelOffset = PIDJointOffset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const unsigned | CreateInfo::HeadOffset = WheelOffset+NumWheels |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | CreateInfo::LEDOffset = HeadOffset+NumHeadJoints |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const unsigned | CreateInfo::ModeOffset = LEDOffset + NumLEDs |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const unsigned | CreateInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | CreateInfo::CameraFrameOffset = BaseFrameOffset + 1 |
| Use with kinematics to refer to camera reference frame. | |
| const LEDOffset_t | CreateInfo::RedLEDOffset = PowerRedLEDOffset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const LEDOffset_t | CreateInfo::BlueLEDOffset = AdvanceLEDOffset |
| Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask. | |
| const LEDOffset_t | CreateInfo::GreenLEDOffset = PlayLEDOffset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const LEDOffset_t | CreateInfo::YellowLEDOffset = AdvanceLEDOffset |
| The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). | |
| const LEDBitMask_t | CreateInfo::BlueLEDMask |
| Create has no blue LED, so use Advance (green) + Power (red). | |
| const LEDBitMask_t | CreateInfo::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CreateInfo::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CreateInfo::RedLEDMask = 1<<(RedLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CreateInfo::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset) |
| mask corresponding to BlueLEDOffset | |
| const LEDBitMask_t | CreateInfo::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | CreateInfo::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | CreateInfo::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | CreateInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | CreateInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | CreateInfo::ButtonOffset_t { CreateInfo::PlayButOffset, CreateInfo::AdvanceButOffset, CreateInfo::WallButOffset, CreateInfo::DropCasterButOffset, CreateInfo::DropLeftWheelButOffset, CreateInfo::DropRightWheelButOffset, CreateInfo::BumpLeftButOffset, CreateInfo::BumpRightButOffset, CreateInfo::OvercurrentLeftWheelOffset, CreateInfo::OvercurrentRightWheelOffset, CreateInfo::LowSideDriver0ButOffset, CreateInfo::LowSideDriver1ButOffset, CreateInfo::LowSideDriver2ButOffset, CreateInfo::BaseChargerButOffset, CreateInfo::InternalChargerButOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | CreateInfo::SensorOffset_t { CreateInfo::DigitalInput0Offset, CreateInfo::DigitalInput1Offset, CreateInfo::DigitalInput2Offset, CreateInfo::DigitalInput3Offset, CreateInfo::AnalogSignalOffset, CreateInfo::WallSignalOffset, CreateInfo::IRCommOffset, CreateInfo::CliffLeftSignalOffset, CreateInfo::CliffFrontLeftSignalOffset, CreateInfo::CliffFrontRightSignalOffset, CreateInfo::CliffRightSignalOffset, CreateInfo::EncoderDistanceOffset, CreateInfo::EncoderAngleOffset, CreateInfo::VoltageOffset, CreateInfo::CurrentOffset, CreateInfo::BatteryChargeOffset, CreateInfo::BatteryTempOffset, CreateInfo::ChargingStateOffset, CreateInfo::ModeStateOffset, CreateInfo::GPSXOffset, CreateInfo::GPSYOffset, CreateInfo::GPSHeadingOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| enum | CreateInfo::IRComm_t { CreateInfo::IR_REMOTE_LEFT = 129, CreateInfo::IR_REMOTE_FORWARD, CreateInfo::IR_REMOTE_RIGHT, CreateInfo::IR_REMOTE_SPOT, CreateInfo::IR_REMOTE_MAX, CreateInfo::IR_REMOTE_SMALL, CreateInfo::IR_REMOTE_MEDIUM, CreateInfo::IR_REMOTE_LARGE, CreateInfo::IR_REMOTE_PAUSE, CreateInfo::IR_REMOTE_POWER, CreateInfo::IR_REMOTE_ARC_LEFT, CreateInfo::IR_REMOTE_ARC_RIGHT, CreateInfo::IR_REMOTE_STOP, CreateInfo::IR_REMOTE_SEND, CreateInfo::IR_REMOTE_DOCK, CreateInfo::IR_BASE_RED = 248, CreateInfo::IR_BASE_GREEN = 244, CreateInfo::IR_BASE_FORCE = 242, CreateInfo::IR_BASE_RED_GREEN = 252, CreateInfo::IR_BASE_RED_FORCE = 250, CreateInfo::IR_BASE_GREEN_FORCE = 246, CreateInfo::IR_BASE_RED_GREEN_FORCE = 254 } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | CreateInfo::ChargingState_t { CreateInfo::CHARGING_OFF, CreateInfo::CHARGING_RECONDITIONING, CreateInfo::CHARGING_FULL, CreateInfo::CHARGING_TRICKLE, CreateInfo::CHARGING_WAITING, CreateInfo::CHARGING_FAULT } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | CreateInfo::ModeState_t { CreateInfo::MODE_OFF, CreateInfo::MODE_PASSIVE, CreateInfo::MODE_SAFE, CreateInfo::MODE_FULL } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| const ButtonOffset_t | CreateInfo::GreenButOffset = PlayButOffset |
| holds offsets to different buttons in WorldState::buttons[] | |
| const ButtonOffset_t | CreateInfo::YellowButOffset = AdvanceButOffset |
| holds offsets to different buttons in WorldState::buttons[] | |
| const ButtonOffset_t | CreateInfo::RedButOffset = PlayButOffset |
| holds offsets to different buttons in WorldState::buttons[] | |
| const char *const | CreateInfo::buttonNames [NumButtons+1] |
| Provides a string name for each button. | |
| const char *const | CreateInfo::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the iRobot Create robots.
Definition in file CreateInfo.h.
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 324 of file CreateInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 322 of file CreateInfo.h.
