QwerkInfo.h File Reference
Defines some capabilities of a generic "Qwerk" based robot. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for QwerkInfo.h:
Go to the source code of this file.
Namespaces | |
| namespace | QwerkInfo |
Declares configuration of the generic Qwerk target, 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 | QwerkInfo::TargetName = "Qwerk" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | QwerkInfo::FrameTime = 25 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | QwerkInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | QwerkInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const char *const | QwerkInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const Capabilities | QwerkInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | QwerkInfo::DefaultPIDs [NumPIDJoints+1][3] = { {0,0,0} } |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | QwerkInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | QwerkInfo::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 | QwerkInfo::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 | QwerkInfo::NumWheels = 4 |
| The number of joints per leg. | |
| const unsigned | QwerkInfo::JointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | QwerkInfo::NumArms = 0 |
| The number of joints per leg. | |
| const unsigned | QwerkInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | QwerkInfo::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | QwerkInfo::NumLegs = 0 |
| The number of legs. | |
| const unsigned | QwerkInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | QwerkInfo::NumHeadJoints = 0 |
| The number of joints in the pantilt. | |
| const unsigned | QwerkInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | QwerkInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | QwerkInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | QwerkInfo::NumButtons = 4 |
| the number of buttons that are available | |
| const unsigned | QwerkInfo::NumSensors = 17 |
| the number of sensors available | |
| const unsigned | QwerkInfo::NumLEDs = 10 |
| The number of LEDs which can be controlled. | |
| const unsigned | QwerkInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | QwerkInfo::NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints per leg. | |
| const unsigned | QwerkInfo::NumOutputs = NumWheels + 16 + NumLEDs |
| servo pins | |
| const unsigned | QwerkInfo::NumReferenceFrames = NumOutputs + 1 + NumArms |
| for the base, gripper (* NumArms) | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | QwerkInfo::WheelOffset_t { QwerkInfo::LWheelOffset = WheelOffset, QwerkInfo::RWheelOffset } |
The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values... More... | |
| enum | QwerkInfo::LEDOffset_t |
The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values... More... | |
| typedef unsigned int | QwerkInfo::LEDBitMask_t |
| const unsigned | QwerkInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | QwerkInfo::WheelOffset = PIDJointOffset |
| The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values... | |
| const unsigned | QwerkInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | QwerkInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const LEDBitMask_t | QwerkInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | QwerkInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | QwerkInfo::ButtonOffset_t { QwerkInfo::Button0, QwerkInfo::Button1, QwerkInfo::Button2, QwerkInfo::Button3 } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | QwerkInfo::SensorOffset_t { QwerkInfo::AnalogInValues0, QwerkInfo::AnalogInValues1, QwerkInfo::AnalogInValues2, QwerkInfo::AnalogInValues3, QwerkInfo::AnalogInValues4, QwerkInfo::AnalogInValues5, QwerkInfo::AnalogInValues6, QwerkInfo::AnalogInValues7, QwerkInfo::DigitalInStates0, QwerkInfo::DigitalInStates1, QwerkInfo::DigitalInStates2, QwerkInfo::DigitalInStates3, QwerkInfo::DigitalInStates4, QwerkInfo::DigitalInStates5, QwerkInfo::DigitalInStates6, QwerkInfo::DigitalInStates7, QwerkInfo::BatteryVoltage } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | QwerkInfo::buttonNames [NumButtons+1] = { "Button0", "Button1", "Button2", "Button3", NULL } |
| Provides a string name for each button. | |
| const char *const | QwerkInfo::sensorNames [NumSensors] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of a generic "Qwerk" based robot.
Definition in file QwerkInfo.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 212 of file QwerkInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 210 of file QwerkInfo.h.
