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CalliopeComponents Namespace Reference

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

Namespaces

namespace  Calliope0
namespace  Calliope2
namespace  Calliope5
namespace  CalliopeInfo
namespace  WithAXS1Sensors
namespace  WithHead
namespace  WithoutAXS1Sensors

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
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 = 15
 the number of buttons that are available
const unsigned NumLEDs = 4
 The number of LEDs which can be controlled.
const unsigned NumFacePanelLEDs = 0
 The number of face panel LEDs.

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 {
  PlayButOffset, AdvanceButOffset, WallButOffset, DropCasterButOffset,
  DropLeftWheelButOffset, DropRightWheelButOffset, BumpLeftButOffset, BumpRightButOffset,
  OvercurrentLeftWheelOffset, OvercurrentRightWheelOffset, LowSideDriver0ButOffset, LowSideDriver1ButOffset,
  LowSideDriver2ButOffset, BaseChargerButOffset, InternalChargerButOffset
}
 

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

More...
enum  SensorOffset_t {
  DigitalInput0Offset, DigitalInput1Offset, DigitalInput2Offset, DigitalInput3Offset,
  AnalogSignalOffset, WallSignalOffset, IRCommOffset, CliffLeftSignalOffset,
  CliffFrontLeftSignalOffset, CliffFrontRightSignalOffset, CliffRightSignalOffset, EncoderDistanceOffset,
  EncoderAngleOffset, VoltageOffset, CurrentOffset, BatteryChargeOffset,
  BatteryTempOffset, ChargingStateOffset, ModeStateOffset, 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
}
 

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 = PlayButOffset
 holds offsets to different buttons in WorldState::buttons[]
const ButtonOffset_t YellowButOffset = AdvanceButOffset
 holds offsets to different buttons in WorldState::buttons[]
const ButtonOffset_t RedButOffset = PlayButOffset
 holds offsets to different buttons in WorldState::buttons[]
const char *const buttonNames [NumButtons+1]
 Provides a string name for each button.

Detailed Description

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


Enumeration Type Documentation

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

Should be a straight mapping to the ButtonSourceIDs

See also:
WorldState::buttons
Enumerator:
PlayButOffset 

1 if play button is down

AdvanceButOffset 

1 if advance button is down

WallButOffset 

1 if wall is detected (note correspondence to WALL_SIGNAL_OFFSET's value, avoiding problems if the two are swapped)

DropCasterButOffset 

1 if caster detects dropoff

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

OvercurrentLeftWheelOffset 

1 if the left wheel is drawing more than 1 amp

OvercurrentRightWheelOffset 

1 if the right wheel is drawing more than 1 amp

LowSideDriver0ButOffset 

1 if low side driver 0 is pulling more than 0.5 amps

LowSideDriver1ButOffset 

1 if low side driver 1 is pulling more than 0.5 amps

LowSideDriver2ButOffset 

1 if low side driver 2 is pulling more than 1.6 amps

BaseChargerButOffset 

1 if the home base charger is available

InternalChargerButOffset 

1 if the internal charger is available

Definition at line 140 of file CalliopeComponents.h.

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 230 of file CalliopeComponents.h.

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 

Definition at line 201 of file CalliopeComponents.h.

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 239 of file CalliopeComponents.h.

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

See also:
WorldState::sensors[]
Enumerator:
DigitalInput0Offset 

the digital input pins in bits 0 through 4

DigitalInput1Offset 

the digital input pins in bits 0 through 4

DigitalInput2Offset 

the digital input pins in bits 0 through 4

DigitalInput3Offset 

the digital input pins in bits 0 through 4

AnalogSignalOffset 

voltage on cargo bay pin 4

WallSignalOffset 

strength of the wall sensor's signal (note correspondence to WALL_OFFSET's value, avoid problems if the two are swapped)

IRCommOffset 

value received by the infrared communication receiver, see IRComm_t for values sent by standard hardware

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

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 176 of file CalliopeComponents.h.

The beginning of the PID Joints.

Enumerator:
LWheelOffset 
RWheelOffset 

Definition at line 116 of file CalliopeComponents.h.


Variable Documentation

const fmat::Column<3> CalliopeComponents::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 122 of file CalliopeComponents.h.

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

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

Definition at line 125 of file CalliopeComponents.h.

Initial value:
 { 
    "Play", "Advance",
    "Wall",
    "CasterDrop", "LWheelDrop", "RWheelDrop",
    "LBump", "RBump",
    "LOverCurrent", "ROverCurrent",
    "DriverLow0", "DriverLow1", "DriverLow2",
    "BaseCharger", "InternalCharger",
    NULL
  }

Provides a string name for each button.

Definition at line 163 of file CalliopeComponents.h.

const unsigned int CalliopeComponents::FrameTime = 30

time between frames in the motion system (milliseconds)

Definition at line 86 of file CalliopeComponents.h.

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

Should be a straight mapping to the ButtonSourceIDs

See also:
WorldState::buttons

Definition at line 158 of file CalliopeComponents.h.

The number of joints per leg.

Definition at line 93 of file CalliopeComponents.h.

const unsigned CalliopeComponents::NumButtons = 15

the number of buttons that are available

Definition at line 99 of file CalliopeComponents.h.

The number of joints which control the ears (NOT per ear, is total).

Definition at line 98 of file CalliopeComponents.h.

The number of face panel LEDs.

Definition at line 101 of file CalliopeComponents.h.

const unsigned int CalliopeComponents::NumFrames = 1

the number of frames per buffer (don't forget also double buffered)

Definition at line 87 of file CalliopeComponents.h.

const unsigned CalliopeComponents::NumLEDs = 4

The number of LEDs which can be controlled.

Definition at line 100 of file CalliopeComponents.h.

the TOTAL number of joints on ALL legs

Definition at line 95 of file CalliopeComponents.h.

const unsigned CalliopeComponents::NumLegs = 0

The number of legs.

Definition at line 94 of file CalliopeComponents.h.

the number of joints that control the mouth

Definition at line 97 of file CalliopeComponents.h.

The number of joints assigned to the tail.

Definition at line 96 of file CalliopeComponents.h.

const unsigned CalliopeComponents::NumWheels = 2

The number of joints per leg.

Definition at line 91 of file CalliopeComponents.h.

The beginning of the PID Joints.

Definition at line 113 of file CalliopeComponents.h.

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

Should be a straight mapping to the ButtonSourceIDs

See also:
WorldState::buttons

Definition at line 160 of file CalliopeComponents.h.

const unsigned int CalliopeComponents::SoundBufferTime = 32

the number of milliseconds per sound buffer... I'm not sure if this can be changed

Definition at line 88 of file CalliopeComponents.h.

The beginning of the PID Joints.

Definition at line 114 of file CalliopeComponents.h.

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

Should be a straight mapping to the ButtonSourceIDs

See also:
WorldState::buttons

Definition at line 159 of file CalliopeComponents.h.


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