CalliopeComponents::Calliope2 Namespace Reference

Typedefs
typedef unsigned int	LEDBitMask_t
	So you can be clear when you're refering to a LED bitmask.
Enumerations
enum	ArmOffset_t { ArmBaseOffset = ArmOffset, ArmShoulderOffset, GripperOffset }
	These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do. More...
enum	LEDOffset_t { PowerRedLEDOffset = LEDOffset, PowerGreenLEDOffset, PlayLEDOffset, AdvanceLEDOffset }
	The offsets of the individual LEDs. More...
Variables
const unsigned	FingerJointsPerArm = 1
const unsigned	JointsPerArm = 3
	2 arm joints plus gripper
const unsigned	NumArms = 1
const unsigned	NumArmJoints = JointsPerArm*NumArms
const unsigned	NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints
	number of motors and servos
const unsigned	NumOutputs = NumPIDJoints + NumLEDs + 1
	the total number of outputs
const unsigned	ArmOffset = HeadOffset+NumHeadJoints
const unsigned	LEDOffset = ArmOffset+NumArmJoints
const unsigned	ModeOffset = LEDOffset + NumLEDs
const unsigned	BaseFrameOffset = NumOutputs
	Use with kinematics to refer to base reference frame.
const unsigned	GripperFrameOffset = BaseFrameOffset + 1
	Use with kinematics to refer to gripper reference frame.
const unsigned	CameraFrameOffset = GripperFrameOffset+NumArms
	Use with kinematics to refer to camera reference frame.
const unsigned	LeftIRFrameOffset = CameraFrameOffset+1
	Use with kinematics to refer to left IR distance rangefinder reference frame.
const unsigned	CenterIRFrameOffset = LeftIRFrameOffset+1
	Use with kinematics to refer to center IR distance rangefinder reference frame.
const unsigned	IRFrameOffset = CenterIRFrameOffset
	alias for CenterIRFrameOffset
const unsigned	RightIRFrameOffset = CenterIRFrameOffset+1
	Use with kinematics to refer to right IR distance rangefinder reference frame.
const LEDOffset_t	RedLEDOffset = PowerRedLEDOffset
const LEDOffset_t	BlueLEDOffset = AdvanceLEDOffset
	Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask.
const LEDOffset_t	GreenLEDOffset = PlayLEDOffset
const LEDOffset_t	YellowLEDOffset = AdvanceLEDOffset
const LEDBitMask_t	BlueLEDMask
	Create has no blue LED, so use Advance (green) + Power (red).
const LEDBitMask_t	GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset)
	mask corresponding to GreenLEDOffset
const LEDBitMask_t	YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset)
	mask corresponding to YellowLEDOffset
const LEDBitMask_t	RedLEDMask = 1<<(RedLEDOffset-LEDOffset)
	mask corresponding to RedLEDOffset
const LEDBitMask_t	PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset)
	mask corresponding to BlueLEDOffset
const LEDBitMask_t	PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset)
	mask corresponding to GreenLEDOffset
const LEDBitMask_t	PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset)
	mask corresponding to YellowLEDOffset
const LEDBitMask_t	AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset)
	mask corresponding to RedLEDOffset
const LEDBitMask_t	FaceLEDMask = 0
	LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t	AllLEDMask = (LEDBitMask_t)~0
	selects all of the leds
const float	DefaultPIDs [NumPIDJoints][3]
	This table holds the default PID values for each joint. see PIDMC.
const float	MaxOutputSpeed [NumOutputs]
	These values are our recommended maximum joint velocities, in rad/ms.
const float	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).

Typedef Documentation

typedef unsigned int CalliopeComponents::Calliope2::LEDBitMask_t

So you can be clear when you're refering to a LED bitmask.

Definition at line 554 of file CalliopeComponents.h.

Enumeration Type Documentation

enum CalliopeComponents::Calliope2::ArmOffset_t

These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do.

Enumerator:

ArmBaseOffset
ArmShoulderOffset
GripperOffset

Definition at line 534 of file CalliopeComponents.h.

enum CalliopeComponents::Calliope2::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

PowerRedLEDOffset
PowerGreenLEDOffset
PlayLEDOffset
AdvanceLEDOffset

Definition at line 542 of file CalliopeComponents.h.

Variable Documentation

const LEDBitMask_t CalliopeComponents::Calliope2::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset

Definition at line 565 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope2::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 570 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::ArmOffset = HeadOffset+NumHeadJoints

Definition at line 521 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 525 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope2::BlueLEDMask

Initial value:

 (1<<(AdvanceLEDOffset-LEDOffset)) |
    (1<<(PowerRedLEDOffset-LEDOffset))

Create has no blue LED, so use Advance (green) + Power (red).

Definition at line 556 of file CalliopeComponents.h.

const LEDOffset_t CalliopeComponents::Calliope2::BlueLEDOffset = AdvanceLEDOffset

Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask.

Definition at line 550 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::CameraFrameOffset = GripperFrameOffset+NumArms

Use with kinematics to refer to camera reference frame.

Definition at line 527 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::CenterIRFrameOffset = LeftIRFrameOffset+1

Use with kinematics to refer to center IR distance rangefinder reference frame.

Definition at line 529 of file CalliopeComponents.h.

const float CalliopeComponents::Calliope2::DefaultPIDs[NumPIDJoints][3]

Initial value:

 {
      {1,0,0},
      {1,0,0},
      {32,32,1},
      {32,32,1},
      {32,32,1},
      {32,32,1},
      {32,32,1}
    }

This table holds the default PID values for each joint. see PIDMC.

Definition at line 573 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope2::FaceLEDMask = 0

LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).

Definition at line 568 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::FingerJointsPerArm = 1

Definition at line 514 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope2::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 558 of file CalliopeComponents.h.

const LEDOffset_t CalliopeComponents::Calliope2::GreenLEDOffset = PlayLEDOffset

Definition at line 551 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::GripperFrameOffset = BaseFrameOffset + 1

Use with kinematics to refer to gripper reference frame.

Definition at line 526 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::IRFrameOffset = CenterIRFrameOffset

alias for CenterIRFrameOffset

Definition at line 530 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::JointsPerArm = 3

2 arm joints plus gripper

Definition at line 515 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::LEDOffset = ArmOffset+NumArmJoints

Definition at line 522 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::LeftIRFrameOffset = CameraFrameOffset+1

Use with kinematics to refer to left IR distance rangefinder reference frame.

Definition at line 528 of file CalliopeComponents.h.

const float CalliopeComponents::Calliope2::MaxOutputSpeed[NumOutputs]

Initial value:

 {
      0, 0,   
      1.f, 1.f,   
      1.f, 1.f, 1.f, 
      0,
      0,
      0,
      0,
      0
    }

These values are our recommended maximum joint velocities, in rad/ms.

Definition at line 584 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::ModeOffset = LEDOffset + NumLEDs

Definition at line 523 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::NumArmJoints = JointsPerArm*NumArms

Definition at line 517 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::NumArms = 1

Definition at line 516 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::NumOutputs = NumPIDJoints + NumLEDs + 1

the total number of outputs

Definition at line 519 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope2::NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints

number of motors and servos

Definition at line 518 of file CalliopeComponents.h.

const float CalliopeComponents::Calliope2::outputRanges[NumOutputs][2]

Initial value:

    {
      { -500 , 500 }, 
      { -500 , 500 }, 
      {RAD(-150),RAD(150)}, 
      {RAD(-92),RAD(75)}, 
      {RAD(-150),RAD(75)}, 
      {RAD(-60),RAD(49)}, 
      {RAD(0),RAD(130)}, 
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 },
      { MODE_PASSIVE, MODE_SAFE }
    }

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).

Definition at line 596 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope2::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset)

mask corresponding to YellowLEDOffset

Definition at line 564 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope2::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 563 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope2::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset)

mask corresponding to BlueLEDOffset

Definition at line 562 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope2::RedLEDMask = 1<<(RedLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset