TentacleInfo.h File Reference
Defines some capabilities of the tentacle planar arm. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for TentacleInfo.h:
Go to the source code of this file.
Namespaces | |
| namespace | TentacleInfo |
Declares configuration of the tentacle planar arm, 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 unsigned int | TentacleInfo::FrameTime = 32 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | TentacleInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | TentacleInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const char *const | TentacleInfo::outputNames [NumReferenceFrames] |
| Names for each of the outputs. | |
| const float | TentacleInfo::DefaultPIDs [NumPIDJoints][3] |
| Dynamixel servos don't use PID control. Instead, these values indicate compliance slope (P), punch (add to P*error), compliance margin (min error to start applying torque) (see ServoParam_t). | |
| const float | TentacleInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/sec. | |
| const float | TentacleInfo::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 | TentacleInfo::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 | TentacleInfo::NumWheels = 0 |
| The number of joints per leg. | |
| const unsigned | TentacleInfo::JointsPerArm = 8 |
| The number of joints per leg. | |
| const unsigned | TentacleInfo::NumArms = 1 |
| The number of joints per leg. | |
| const unsigned | TentacleInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per leg. | |
| const unsigned | TentacleInfo::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | TentacleInfo::NumLegs = 0 |
| The number of legs. | |
| const unsigned | TentacleInfo::NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs | |
| const unsigned | TentacleInfo::NumHeadJoints = 2 |
| The number of joints in the pantilt. | |
| const unsigned | TentacleInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | TentacleInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | TentacleInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | TentacleInfo::NumButtons = 0 |
| the number of buttons that are available | |
| const unsigned | TentacleInfo::NumSensors = 0 |
| the number of sensors available | |
| const unsigned | TentacleInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | TentacleInfo::NumPIDJoints = NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints per leg. | |
| const unsigned | TentacleInfo::NumLEDs = NumPIDJoints |
| servo pins | |
| const unsigned | TentacleInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | TentacleInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1 |
| for the base, gripper (* NumArms), and camera reference frames | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | TentacleInfo::TPROffset_t { TentacleInfo::PanOffset = 0, TentacleInfo::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 | TentacleInfo::HeadOffset_t { TentacleInfo::HeadPanOffset = HeadOffset, TentacleInfo::HeadTiltOffset } |
These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More... | |
| enum | TentacleInfo::LEDOffset_t |
The offsets of the individual LEDs -- except we don't have any idea what to 'name' the servos in a reconfigurable kit, so this is empty (just add numeric offsets). More... | |
| typedef unsigned int | TentacleInfo::LEDBitMask_t |
| const unsigned | TentacleInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | TentacleInfo::ArmOffset = PIDJointOffset |
| the offset of the beginning of the arm joints | |
| const unsigned | TentacleInfo::HeadOffset = ArmOffset + NumArmJoints |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | TentacleInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | TentacleInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | TentacleInfo::GripperFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | TentacleInfo::CameraFrameOffset = GripperFrameOffset+1 |
| 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 | TentacleInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | TentacleInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | TentacleInfo::ButtonOffset_t |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | TentacleInfo::SensorOffset_t |
holds offset to different sensor values in WorldState::sensors[] More... | |
| const char *const | TentacleInfo::buttonNames [NumButtons+1] = { NULL } |
| Provides a string name for each button. | |
| const char *const | TentacleInfo::sensorNames [NumSensors+1] = { NULL } |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the tentacle planar arm.
Definition in file TentacleInfo.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 174 of file TentacleInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 172 of file TentacleInfo.h.
