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

enum CalliopeComponents::ButtonOffset_t

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.

enum CalliopeComponents::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 230 of file CalliopeComponents.h.

enum CalliopeComponents::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

Definition at line 201 of file CalliopeComponents.h.

enum CalliopeComponents::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 239 of file CalliopeComponents.h.

enum CalliopeComponents::SensorOffset_t

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.

enum CalliopeComponents::WheelOffset_t

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.

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

Initial value:

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