Calliope3Components Namespace Reference

Contains information about a Calliope robot, such as number of joints, LEDs, etc. More...

Namespaces
namespace	Calliope3
Variables
const unsigned int	FrameTime = 30
	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
const float	wheelDiameter = 72.0
	Create 2 wheel diameter in mm.
const float	wheelBase = 235.0
	Create 2 wheel base in mm.
const float	encoderTicksPerRev = 508.8
	Number of encoder ticks per wheel revolution.
Output Types Information

const unsigned	NumWheels = 2
	The number of joints per leg.
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	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 = 31
	the number of buttons that are available
const unsigned	NumLEDs = 6
	The number of LEDs which can be controlled.
const unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
const unsigned	NumSensors = 36
	the number of sensors available: 33 Create2 + 3 for GPS
Output Offsets
Corresponds to entries in outputNames, defined at the end of this file
enum	WheelOffset_t { LWheelOffset = WheelOffset, RWheelOffset }
	The beginning of the PID Joints. More...
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	WheelOffset = PIDJointOffset
	The beginning of the PID Joints.
const fmat::Column< 3 >	AgentBoundingBoxBaseFrameOffset = fmat::pack(838.4/2-304.8/2,0,0)
	Offset needed so that the centroid of the robot is correct related to the bounding box.
const fmat::Column< 3 >	AgentBoundingBoxHalfDims = fmat::pack(838.4/2, 304.8/2, 0)
	Half of the length, width, and height of the robot.
Input Offsets
The order in which inputs should be stored
enum	ButtonOffset_t { WallButOffset, DropLeftWheelButOffset, DropRightWheelButOffset, BumpLeftButOffset, BumpRightButOffset, CliffLeftButOffset, CliffFrontLeftButOffset, CliffFrontRightButOffset, CliffRightButOffset, VirtualWallButOffset, OvercurrentLeftWheelOffset, OvercurrentRightWheelOffset, OvercurrentMainBrushOffset, OvercurrentSideBrushOffset, CleanButOffset, SpotButOffset, DockButOffset, MinuteButOffset, HourButOffset, DayButOffset, ScheduleButOffset, ClockButOffset, BaseChargerButOffset, InternalChargerButOffset, LtBumpRightOffset, LtBumpFrontRightOffset, LtBumpCenterRightOffset, LtBumpCenterLeftOffset, LtBumpFrontLeftOffset, LtBumpLeftOffset, StasisButOffset }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	SensorOffset_t { WallSignalOffset, DirtDetectOffset, IRCommOffset, IRLeftOffset, IRRightOffset, CliffLeftSignalOffset, CliffFrontLeftSignalOffset, CliffFrontRightSignalOffset, CliffRightSignalOffset, EncoderDistanceOffset, EncoderAngleOffset, VoltageOffset, CurrentOffset, BatteryChargeOffset, BatteryTempOffset, ChargingStateOffset, ModeStateOffset, ReqVelocityOffset, ReqRadiusOffset, ReqLeftVelocityOffset, ReqRightVelocityOffset, LeftEncoderOffset, RightEncoderOffset, LtBumpRightSignalOffset, LtBumpFrontRightSignalOffset, LtBumpCenterRightSignalOffset, LtBumpCenterLeftSignalOffset, LtBumpFrontLeftSignalOffset, LtBumpLeftSignalOffset, LeftMotorCurrentOffset, RightMotorCurrentOffset, SideBrushCurrentOffset, MainBrushCurrentOffset, GPSXOffset, GPSYOffset, GPSHeadingOffset }
	holds offset to different sensor values in WorldState::sensors[] More...
enum	IRComm_t { IR_REMOTE_LEFT = 129, IR_REMOTE_FORWARD, IR_REMOTE_RIGHT, IR_REMOTE_SPOT, IR_REMOTE_MAX, IR_REMOTE_SMALL, IR_REMOTE_MEDIUM, IR_REMOTE_LARGE, IR_REMOTE_PAUSE, IR_REMOTE_POWER, IR_REMOTE_ARC_LEFT, IR_REMOTE_ARC_RIGHT, IR_REMOTE_STOP, IR_REMOTE_SEND, IR_REMOTE_DOCK, IR_BASE_RED = 248, IR_BASE_GREEN = 244, IR_BASE_FORCE = 242, IR_BASE_RED_GREEN = 252, IR_BASE_RED_FORCE = 250, IR_BASE_GREEN_FORCE = 246, IR_BASE_RED_GREEN_FORCE = 254, IR_600_FORCE = 161, IR_600_GREEN = 164, IR_600_GREEN_FORCE, IR_600_RED = 168, IR_600_RED_FORCE, IR_600_RED_GREEN = 172, IR_600_RED_GREEN_FORCE, IR_WALL = 162 }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	ChargingState_t { CHARGING_OFF, CHARGING_RECONDITIONING, CHARGING_FULL, CHARGING_TRICKLE, CHARGING_WAITING, CHARGING_FAULT }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	ModeState_t { MODE_OFF, MODE_PASSIVE, MODE_SAFE, MODE_FULL }
	holds offsets to different buttons in WorldState::buttons[] More...
const ButtonOffset_t	GreenButOffset = CleanButOffset
	holds offsets to different buttons in WorldState::buttons[]
const ButtonOffset_t	YellowButOffset = SpotButOffset
	holds offsets to different buttons in WorldState::buttons[]
const ButtonOffset_t	RedButOffset = DockButOffset
	holds offsets to different buttons in WorldState::buttons[]
const char *const	buttonNames [NumButtons+1]
	Provides a string name for each button.
const char *const	sensorNames [NumSensors+1]
	Provides a string name for each sensor.

Detailed Description

Contains information about a Calliope robot, such as number of joints, LEDs, etc.

Enumeration Type Documentation

enum Calliope3Components::ButtonOffset_t

holds offsets to different buttons in WorldState::buttons[]

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

WallButOffset	1 if wall is detected (note correspondence to WALL_SIGNAL_OFFSET's value, avoiding problems if the two are swapped)
DropLeftWheelButOffset	1 if left wheel detects dropoff
DropRightWheelButOffset	1 if right wheel detects dropoff
BumpLeftButOffset	1 if left bumper is pressed
BumpRightButOffset	1 if right bumper is pressed
CliffLeftButOffset	1 if cliff sensor detects dropoff
CliffFrontLeftButOffset
CliffFrontRightButOffset
CliffRightButOffset
VirtualWallButOffset	1 if virtual wall is detected
OvercurrentLeftWheelOffset	1 if the left wheel is drawing more than 1 amp
OvercurrentRightWheelOffset	1 if the right wheel is drawing more than 1 amp
OvercurrentMainBrushOffset	1 if the main brush is drawing more than 1 amp
OvercurrentSideBrushOffset	1 if the side brush is drawing more than 1 amp
CleanButOffset	1 if clean button is down
SpotButOffset	1 if spot button is down
DockButOffset	1 if dock button is down
MinuteButOffset	1 if minute button is down
HourButOffset	1 if hour button is down
DayButOffset	1 if day button is down
ScheduleButOffset	1 if schedule button is down
ClockButOffset	1 if clock button is down
BaseChargerButOffset	1 if the home base charger is available
InternalChargerButOffset	1 if the internal charger is available
LtBumpRightOffset	1 if the right light bumper is pressed
LtBumpFrontRightOffset
LtBumpCenterRightOffset
LtBumpCenterLeftOffset
LtBumpFrontLeftOffset
LtBumpLeftOffset
StasisButOffset	1 if the robot is moving forward

Definition at line 108 of file Calliope3Components.h.

enum Calliope3Components::ChargingState_t

holds offsets to different buttons in WorldState::buttons[]

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

CHARGING_OFF
CHARGING_RECONDITIONING
CHARGING_FULL
CHARGING_TRICKLE
CHARGING_WAITING
CHARGING_FAULT

Definition at line 282 of file Calliope3Components.h.

enum Calliope3Components::IRComm_t

holds offsets to different buttons in WorldState::buttons[]

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

IR_REMOTE_LEFT
IR_REMOTE_FORWARD
IR_REMOTE_RIGHT
IR_REMOTE_SPOT
IR_REMOTE_MAX
IR_REMOTE_SMALL
IR_REMOTE_MEDIUM
IR_REMOTE_LARGE
IR_REMOTE_PAUSE
IR_REMOTE_POWER
IR_REMOTE_ARC_LEFT
IR_REMOTE_ARC_RIGHT
IR_REMOTE_STOP
IR_REMOTE_SEND
IR_REMOTE_DOCK
IR_BASE_RED
IR_BASE_GREEN
IR_BASE_FORCE
IR_BASE_RED_GREEN
IR_BASE_RED_FORCE
IR_BASE_GREEN_FORCE
IR_BASE_RED_GREEN_FORCE
IR_600_FORCE
IR_600_GREEN
IR_600_GREEN_FORCE
IR_600_RED
IR_600_RED_FORCE
IR_600_RED_GREEN
IR_600_RED_GREEN_FORCE
IR_WALL

Definition at line 245 of file Calliope3Components.h.

enum Calliope3Components::ModeState_t

holds offsets to different buttons in WorldState::buttons[]

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

MODE_OFF
MODE_PASSIVE
MODE_SAFE
MODE_FULL

Definition at line 291 of file Calliope3Components.h.

enum Calliope3Components::SensorOffset_t

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

See also:: WorldState::sensors[]

Enumerator:

WallSignalOffset	strength of the wall sensor's signal (note correspondence to WALL_OFFSET's value, avoid problems if the two are swapped)
DirtDetectOffset	Level of dirt detect sensor.
IRCommOffset	value received by the infrared communication receiver, see IRComm_t for values sent by standard hardware
IRLeftOffset	value received by the left IR communciation receiver, see IRComm_t for values
IRRightOffset	value received by the right IR communication receiver, see IRComm_t for values
CliffLeftSignalOffset	strength of the left cliff sensor
CliffFrontLeftSignalOffset	strength of the front left cliff sensor
CliffFrontRightSignalOffset	strength of the front right cliff sensor
CliffRightSignalOffset	strength of the right cliff sensor
EncoderDistanceOffset	average distance (mm) traveled by the wheels since last update
EncoderAngleOffset	average angle (radians) rotated since the last update
VoltageOffset	mV measured at battery
CurrentOffset	mA flowing into battery (negative when discharging)
BatteryChargeOffset	mAh remaining in battery (may not be accurate with alkaline battery pack)
BatteryTempOffset	degrees celsius
ChargingStateOffset	one of ChargingState_t
ModeStateOffset	one of ModeState_t
ReqVelocityOffset	last requested velocity by a drive command
ReqRadiusOffset	last requested radius by a drive command
ReqLeftVelocityOffset	last requested velocity of left wheel
ReqRightVelocityOffset	last requested velocity of right wheel
LeftEncoderOffset	Count of the encoder of the left wheel.
RightEncoderOffset	Count of the encoder of the right wheel.
LtBumpRightSignalOffset	Signal strength of right light bumper.
LtBumpFrontRightSignalOffset
LtBumpCenterRightSignalOffset
LtBumpCenterLeftSignalOffset
LtBumpFrontLeftSignalOffset
LtBumpLeftSignalOffset
LeftMotorCurrentOffset	Current of left motor in mA.
RightMotorCurrentOffset	Current of right motor in mA.
SideBrushCurrentOffset	Current of motor for side brush in mA.
MainBrushCurrentOffset	Current of motor for main brush in mA.
GPSXOffset	x-coordinate of robot from GPS or Mirage
GPSYOffset	y-coordinate of robot from GPS or Mirage
GPSHeadingOffset	heading of robot from GPS or Mirage

Definition at line 164 of file Calliope3Components.h.

enum Calliope3Components::WheelOffset_t

The beginning of the PID Joints.

Enumerator:

LWheelOffset
RWheelOffset

Definition at line 84 of file Calliope3Components.h.

Variable Documentation

const fmat::Column<3> Calliope3Components::AgentBoundingBoxBaseFrameOffset = fmat::pack(838.4/2-304.8/2,0,0)

Offset needed so that the centroid of the robot is correct related to the bounding box.

Definition at line 90 of file Calliope3Components.h.

const fmat::Column<3> Calliope3Components::AgentBoundingBoxHalfDims = fmat::pack(838.4/2, 304.8/2, 0)

Half of the length, width, and height of the robot.

Definition at line 93 of file Calliope3Components.h.

const char* const Calliope3Components::buttonNames[NumButtons+1]

Initial value:

{
    "Wall",
    "LWheelDrop", "RWheelDrop",
    "LBump", "RBump",
    "LCliff", "LFrontCliff",
    "RCliff", "RFrontCliff",
    "VirtualWall",
    "LOverCurrent", "ROverCurrent", "MBrushOverCurrent", "SBrushOverCurrent",
    "Clean", "Spot", "Dock", "Minute", "Hour", "Day", "Schedule",
    "Clock",
    "BaseCharger", "InternalCharger",
    "LtBumperRight", "LtBumperFrontRight","LtBumperCenterRight", "LtBumperCenterLeft", "LtBumperFrontLeft", "LtBumperLeft",
    "Stasis",
    NULL
  }