LynxArm6Info.h

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//-*-c++-*-
#ifndef INCLUDED_LynxArm6Info_h
#define INCLUDED_LynxArm6Info_h

#include <cmath>
#include <cstdlib>
#include "CommonInfo.h"
using namespace RobotInfo;

// see http://tekkotsu.org/porting.html#configuration for more information on TGT_HAS_* flags
#if defined(TGT_LYNXARM6)
#  define TGT_HAS_ARMS 1
#endif

//! Declares configuration of the 6-DOF PUMA style arm from Lynx Motion, such as number of joints, LEDs, etc.
namespace LynxArm6Info {

  // *******************************
  //       ROBOT CONFIGURATION
  // *******************************

  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs

  const unsigned int FrameTime=32;        //!< time between frames in the motion system (milliseconds)
  const unsigned int NumFrames=1;        //!< the number of frames per buffer (don't forget also double buffered)
  const unsigned int SoundBufferTime=32; //!< the number of milliseconds per sound buffer... I'm not sure if this can be changed
  
  //!@name Output Types Information
  const unsigned NumWheels = 0; //!< no wheels, just legs
  
  const unsigned JointsPerArm   =  6;
  const unsigned NumArms        =  1;
  const unsigned NumArmJoints   =  JointsPerArm*NumArms;
  
  const unsigned JointsPerLeg   =  0; //!< The number of joints per leg
  const unsigned NumLegs        =  0; //!< The number of legs
  const unsigned NumLegJoints   =  JointsPerLeg*NumLegs; //!< the TOTAL number of joints on ALL legs
  const unsigned NumHeadJoints  =  0; //!< The number of joints in the neck
  const unsigned NumTailJoints  =  0; //!< The number of joints assigned to the tail
  const unsigned NumMouthJoints =  0; //!< the number of joints that control the mouth
  const unsigned NumEarJoints   =  0; //!< The number of joints which control the ears (NOT per ear, is total)
  const unsigned NumButtons     =  0; //!< the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
  const unsigned NumSensors     =  4;  //!< the four input pins
  const unsigned NumLEDs        =  0; //!< The number of LEDs which can be controlled
  const unsigned NumFacePanelLEDs = 0; //!< The number of face panel LEDs
  
  const unsigned NumPIDJoints   = NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints; //!< The number of joints which use PID motion - everything except ears
  const unsigned NumOutputs     = NumPIDJoints + NumLEDs; //!< the total number of outputs
  const unsigned NumReferenceFrames = NumOutputs + 1 + NumArms; //!< for the base, gripper (* NumArms)

  // webcam ?
  const float CameraHorizFOV=56.9f/180*(float)M_PI; //!< horizontal field of view (radians)
  const float CameraVertFOV=45.2f/180*(float)M_PI; //!< vertical field of view (radians)
  const float CameraFOV=CameraHorizFOV; //!< should be set to maximum of #CameraHorizFOV or #CameraVertFOV
  const unsigned int CameraResolutionX=320; //!< the number of pixels available in the 'full' layer
  const unsigned int CameraResolutionY=240; //!< the number of pixels available in the 'full' layer
  //@}


  // *******************************
  //         OUTPUT OFFSETS
  // *******************************

  //!Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
  //!@name Output Offsets

  const unsigned PIDJointOffset = 0; //!< The beginning of the PID Joints
  const unsigned ArmOffset   = PIDJointOffset;

  //! These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do
  enum ArmOffset_t {
    ArmShoulderOffset=ArmOffset,
    ArmElevatorOffset,
    ArmElbowOffset,
    WristOffset,
    WristRollOffset = WristOffset,
    WristPitchOffset,
    GripperOffset
  };
  
  const unsigned BaseFrameOffset   = NumOutputs; //!< Use with kinematics to refer to base reference frame
  const unsigned GripperFrameOffset    = BaseFrameOffset+1; //!< Use with kinematics to refer to paw reference frames

  //@}


  // *******************************
  //          INPUT OFFSETS
  // *******************************


  //! The order in which inputs should be stored
  //!@name Input Offsets

  //! holds offsets to different buttons in WorldState::buttons[]
  /*! Should be a straight mapping to the ButtonSourceIDs
   *
   *  Note that the chest (power) button is not a normal button.  It kills
   *  power to the motors at a hardware level, and isn't sensed in the
   *  normal way.  If you want to know when it is pressed (and you are
   *  about to shut down) see PowerSrcID::PauseSID.
   *
   *  @see WorldState::buttons @see ButtonSourceID_t
   * @hideinitializer */
  enum ButtonOffset_t { };

  //! Provides a string name for each button
  const char* const buttonNames[NumButtons+1] = { NULL }; // plus one and NULL entry to workaround gcc 3.4.2 internal error

  //! holds offset to different sensor values in WorldState::sensors[]
  /*! @see WorldState::sensors[] */
  enum SensorOffset_t { SensorAOffset, SensorBOffset, SensorCOffset, SensorDOffset };

  //! Provides a string name for each sensor
  const char* const sensorNames[NumSensors] = { "SensorA", "SensorB", "SensorC", "SensorD" };

  //@}


  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    "Shldr:rot","Shldr:elv","Elbow",
    "Wrist:elv","Wrist:rot","Gripper",
    
    "BaseFrame", "GripperFrame",
    NULL
  };
  
  //! allocation declared in RobotInfo.cc
  extern const Capabilities capabilities;
  
  //! This table holds the default PID values for each joint.  see PIDMC
  const float DefaultPIDs[NumPIDJoints][3] = {
    {1,0,0}, {1,0,0}, {1,0,0},
    {1,0,0}, {1,0,0}, {1,0,0},
  };
    
  //!These values are Sony's recommended maximum joint velocities, in rad/sec
  /*! a value <= 0 means infinite speed (e.g. LEDs)
   *  
   *  These limits are <b>not</b> enforced by the framework.  They are simply available for you to use as you see fit.
   *  HeadPointerMC and PostureMC are primary examples of included classes which do respect these values (although they can be overridden)
   *  
   *  These values were obtained from the administrators of the Sony OPEN-R BBS */
  const float MaxOutputSpeed[NumOutputs] = {
    4.86510529f, //Legs LR,FB,REK
    5.27962099f,
    5.27962099f,
    4.86510529f,
    5.27962099f,
    5.27962099f
  };

  #ifndef RAD
    //!Just a little macro for converting degrees to radians
  #define RAD(deg) (((deg) * (float)M_PI ) / 180.0f)
    //!a flag so we undef these after we're done - do you have a cleaner solution?
  #define __RI_RAD_FLAG
  #endif
  
  //! 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 outputRanges[NumOutputs][2] =
    {
      { RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },
      { RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },
    };

  //! 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)
  /*! Same as #outputRanges */
  const float mechanicalLimits[NumOutputs][2] =
    {
      { RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },
      { RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },{ RAD(-90),RAD(90) },
    };

#ifdef __RI_RAD_FLAG
#undef RAD
#undef __RI_RAD_FLAG
#endif
}

/*! @file
 * @brief Defines some capabilities of the 6-DOF PUMA style arm from Lynx Motion
 * @author ejt (Creator)
 */

#endif