WiiMoteInfo.h File Reference
Defines some capabilities of the WiiMote. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for WiiMoteInfo.h:
Go to the source code of this file.
Namespaces | |
| namespace | WiiMoteInfo |
Contains information about the WiiMote remote control. | |
Enumerations | |
| enum | WiiMoteInfo::InterfaceMode_t |
Variables | |
| const unsigned int | WiiMoteInfo::FrameTime = 15 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | WiiMoteInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | WiiMoteInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const char *const | WiiMoteInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const float | WiiMoteInfo::DefaultPIDs [NumPIDJoints+1][3] |
| This table holds the default PID values for each joint. see PIDMC. | |
| const float | WiiMoteInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | WiiMoteInfo::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 | WiiMoteInfo::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 | WiiMoteInfo::NumWheels = 0 |
| The number of joints per leg. | |
| const unsigned | WiiMoteInfo::JointsPerArm = 0 |
| The number of joints per leg. | |
| const unsigned | WiiMoteInfo::NumArms = 0 |
| The number of joints per leg. | |
| const unsigned | WiiMoteInfo::NumArmJoints = 0 |
| The number of joints per leg. | |
| const unsigned | WiiMoteInfo::JointsPerLeg = 0 |
| The number of joints per leg. | |
| const unsigned | WiiMoteInfo::NumLegs = 0 |
| The number of legs. | |
| const unsigned | WiiMoteInfo::NumLegJoints = 0 |
| The number of joints per leg. | |
| const unsigned | WiiMoteInfo::NumHeadJoints = 0 |
| The number of joints in the neck. | |
| const unsigned | WiiMoteInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | WiiMoteInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | WiiMoteInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | WiiMoteInfo::NumButtons = 11 |
| the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t | |
| const unsigned | WiiMoteInfo::NumSensors = 3 |
| the number of sensors available | |
| const unsigned | WiiMoteInfo::NumLEDs = 4 |
| The number of LEDs which can be controlled. | |
| const unsigned | WiiMoteInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | WiiMoteInfo::NumPIDJoints = NumWheels |
| servo pins | |
| const unsigned | WiiMoteInfo::NumOutputs = NumWheels + NumLEDs |
| the total number of outputs | |
| const unsigned | WiiMoteInfo::NumReferenceFrames = NumOutputs + 1 + NumArms |
| for the base, gripper (* NumArms) | |
| const float | WiiMoteInfo::CameraHorizFOV = 0 |
| The number of joints per leg. | |
| const float | WiiMoteInfo::CameraVertFOV = 0 |
| The number of joints per leg. | |
| const float | WiiMoteInfo::CameraFOV = 0 |
| The number of joints per leg. | |
| const unsigned int | WiiMoteInfo::CameraResolutionX = 0 |
| The number of joints per leg. | |
| const unsigned int | WiiMoteInfo::CameraResolutionY = 0 |
| The number of joints per leg. | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | WiiMoteInfo::WheelOffset_t |
The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t. More... | |
| enum | WiiMoteInfo::LEDOffset_t { WiiMoteInfo::LED0_Offset = LEDOffset, WiiMoteInfo::LED1_Offset, WiiMoteInfo::LED2_Offset, WiiMoteInfo::LED3_Offset } |
The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t. More... | |
| typedef unsigned int | WiiMoteInfo::LEDBitMask_t |
| const unsigned | WiiMoteInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | WiiMoteInfo::WheelOffset = PIDJointOffset |
| The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t. | |
| const unsigned | WiiMoteInfo::LEDOffset = WheelOffset+NumWheels |
| The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t. | |
| const unsigned | WiiMoteInfo::MODE_OFFSET = LEDOffset + NumLEDs |
| The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t. | |
| const unsigned | WiiMoteInfo::DEMO_OFFSET = MODE_OFFSET+1 |
| The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t. | |
| const unsigned | WiiMoteInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const LEDBitMask_t | WiiMoteInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | WiiMoteInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
| enum | WiiMoteInfo::ButtonOffset_t { WiiMoteInfo::BUTTON_2, WiiMoteInfo::BUTTON_1, WiiMoteInfo::BUTTON_B, WiiMoteInfo::BUTTON_A, WiiMoteInfo::BUTTON_MINUS, WiiMoteInfo::BUTTON_HOME, WiiMoteInfo::BUTTON_LEFT, WiiMoteInfo::BUTTON_RIGHT, WiiMoteInfo::BUTTON_DOWN, WiiMoteInfo::BUTTON_UP, WiiMoteInfo::BUTTON_PLUS } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | WiiMoteInfo::SensorOffset_t { WiiMoteInfo::X_OFFSET, WiiMoteInfo::Y_OFFSET, WiiMoteInfo::Z_OFFSET } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| enum | WiiMoteInfo::IRComm_t { WiiMoteInfo::IR_X, WiiMoteInfo::IR_Y } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| const char *const | WiiMoteInfo::buttonNames [NumButtons+1] |
| Provides a string name for each button. | |
| const char *const | WiiMoteInfo::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
Detailed Description
Defines some capabilities of the WiiMote.
Definition in file WiiMoteInfo.h.
