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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.

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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.

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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[]

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enum  WiiMoteInfo::SensorOffset_t { WiiMoteInfo::X_OFFSET, WiiMoteInfo::Y_OFFSET, WiiMoteInfo::Z_OFFSET }
 

holds offset to different sensor values in WorldState::sensors[]

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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.

Author:
ejt (Creator)

Definition in file WiiMoteInfo.h.


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