CalliopeComponents::Calliope5 Namespace Reference

Namespaces
namespace	WithAXS1Sensors
namespace	WithoutAXS1Sensors
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, ArmElbowOffset, ArmWristOffset, WristRotateOffset, LeftFingerOffset, RightFingerOffset }
	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 = 2
const unsigned	JointsPerArm = 7
	5 arms joints plus two fingers
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	LeftFingerFrameOffset = GripperFrameOffset+1
	Use with kinematics to refer to the left finger reference frame.
const unsigned	RightFingerFrameOffset = LeftFingerFrameOffset+1
	Use with kinematics to refer to the right finger reference frame.
const unsigned	CameraFrameOffset = RightFingerFrameOffset+NumArms
	Use with kinematics to refer to camera 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/s.
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::Calliope5::LEDBitMask_t

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

Definition at line 673 of file CalliopeComponents.h.

Enumeration Type Documentation

enum CalliopeComponents::Calliope5::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
ArmElbowOffset
ArmWristOffset
WristRotateOffset
LeftFingerOffset
RightFingerOffset

Definition at line 636 of file CalliopeComponents.h.

enum CalliopeComponents::Calliope5::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

PowerRedLEDOffset
PowerGreenLEDOffset
PlayLEDOffset
AdvanceLEDOffset

Definition at line 661 of file CalliopeComponents.h.

Variable Documentation

const LEDBitMask_t CalliopeComponents::Calliope5::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset

Definition at line 684 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope5::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 689 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::ArmOffset = HeadOffset+NumHeadJoints

Definition at line 625 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 629 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope5::BlueLEDMask

Initial value:

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

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

Definition at line 675 of file CalliopeComponents.h.

const LEDOffset_t CalliopeComponents::Calliope5::BlueLEDOffset = AdvanceLEDOffset

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

Definition at line 669 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::CameraFrameOffset = RightFingerFrameOffset+NumArms

Use with kinematics to refer to camera reference frame.

Definition at line 633 of file CalliopeComponents.h.

const float CalliopeComponents::Calliope5::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},
      {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 692 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope5::FaceLEDMask = 0

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

Definition at line 687 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::FingerJointsPerArm = 2

Definition at line 618 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope5::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 677 of file CalliopeComponents.h.

const LEDOffset_t CalliopeComponents::Calliope5::GreenLEDOffset = PlayLEDOffset

Definition at line 670 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::GripperFrameOffset = BaseFrameOffset + 1

Use with kinematics to refer to gripper reference frame.

Definition at line 630 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::JointsPerArm = 7

5 arms joints plus two fingers

Definition at line 619 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::LEDOffset = ArmOffset+NumArmJoints

Definition at line 626 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::LeftFingerFrameOffset = GripperFrameOffset+1

Use with kinematics to refer to the left finger reference frame.

Definition at line 631 of file CalliopeComponents.h.

Referenced by ArmMC::setFingerGap().

const float CalliopeComponents::Calliope5::MaxOutputSpeed[NumOutputs]

Initial value:

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

Definition at line 707 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::ModeOffset = LEDOffset + NumLEDs

Definition at line 627 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::NumArmJoints = JointsPerArm*NumArms

Definition at line 621 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::NumArms = 1

Definition at line 620 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::NumOutputs = NumPIDJoints + NumLEDs + 1

the total number of outputs

Definition at line 623 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope5::NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints

number of motors and servos

Definition at line 622 of file CalliopeComponents.h.

const float CalliopeComponents::Calliope5::outputRanges[NumOutputs][2]

Initial value:

    {
      {    -500 ,    500 }, 
      {    -500 ,    500 }, 
      {RAD(-150),RAD(150)}, 
      {RAD(-99) ,RAD(107)}, 
      {RAD( -95),RAD( 84)}, 
      {RAD( -55),RAD(149)}, 
      {RAD(-149),RAD(149)}, 
      {RAD(-132),RAD(130)}, 
      {RAD(-149),RAD(149)}, 
      {RAD( -70),RAD( 25)}, 
      {RAD( -25),RAD( 70)}, 
      {       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 720 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope5::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset)

mask corresponding to YellowLEDOffset

Definition at line 683 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope5::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 682 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope5::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset)

mask corresponding to BlueLEDOffset

Definition at line 681 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope5::RedLEDMask = 1<<(RedLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset