CalliopeUInfo Namespace Reference

Contains information about the CalliopeU, such as number of joints, LEDs, etc. More...

Classes
class	CalliopeUCapabilities
	provides polymorphic robot capability detection/mapping More...
Variables
const char *const	TargetName = "CalliopeU"
	the name of the model, to be used for logging and remote GUIs
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 fmat::Column< 3 >	AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0)
	Offset needed so that the centroid of the robot is correct related to the bounding box.
const fmat::Column< 3 >	AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0)
	Half of the length, width, and height of the robot without gadgets (E.G arms).
const char *const	outputNames [NumReferenceFrames+1]
	Names for each of the outputs.
const CalliopeUCapabilities	capabilities
	allocation declared in RobotInfo.cc
const float	DefaultPIDs [NumPIDJoints+1][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).
const float	mechanicalLimits [NumOutputs][2]
	This table holds the mechanical limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).
Output Types Information
const unsigned	NumWheels = 2
	The number of joints per leg.
const unsigned	FingerJointsPerArm = 0
	The number of joints per leg.
const unsigned	JointsPerArm = 0
	The number of joints per leg.
const unsigned	NumArms = 0
	The number of joints per leg.
const unsigned	NumArmJoints = JointsPerArm*NumArms
	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	NumHeadJoints = 0
	The number of joints in the neck.
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 = 11
	the number of buttons that are available
const unsigned	NumSensors = 42
	the number of sensors available
const unsigned	NumLEDs = 4
	The number of LEDs which can be controlled.
const unsigned	NumFacePanelLEDs = 0
	The number of face panel LEDs.
const unsigned	NumPIDJoints = NumWheels
	servo pins
const unsigned	NumOutputs = NumPIDJoints + NumLEDs
	the total number of outputs
const unsigned	NumReferenceFrames = NumOutputs + 1 + NumArms + 1
	for the base, gripper (* NumArms), and Camera
const float	wheelBase = 230.0
	Kobuki wheel base in mm.
const float	wheelRadius = 35.0
	Kobuki wheel radius in mm.
const float	tickToRad = 0.002436916871363930187454f
	The number of joints per leg.
Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
enum	TPROffset_t { PanOffset = 0, TiltOffset, NodOffset = TiltOffset }
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). More...
enum	HeadOffset_t { HeadPanOffset = HeadOffset, HeadTiltOffset }
	These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More...
enum	WheelOffset_t { SpeedOffset = WheelOffset, RadiusOffset }
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset). More...
enum	LEDOffset_t { RedLED1Offset = LEDOffset, GreenLED1Offset, RedLED2Offset, GreenLED2Offset }
	The offsets of the individual LEDs. More...
typedef unsigned int	LEDBitMask_t
	So you can be clear when you're refering to a LED bitmask.
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	WheelOffset = PIDJointOffset
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
const unsigned	HeadOffset = WheelOffset+NumWheels
	the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned	LEDOffset = HeadOffset+NumHeadJoints
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
const unsigned	ModeOffset = LEDOffset + NumLEDs
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
const unsigned	BaseFrameOffset = NumOutputs
	Use with kinematics to refer to base reference frame.
const unsigned	CameraFrameOffset = BaseFrameOffset + 1
	Use with kinematics to refer to camera reference frame.
const LEDOffset_t	RedLEDOffset = RedLED1Offset
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
const LEDOffset_t	YellowLEDOffset = RedLED2Offset
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
const LEDOffset_t	GreenLEDOffset = GreenLED1Offset
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
const LEDOffset_t	BlueLEDOffset = GreenLED2Offset
	The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).
const LEDBitMask_t	RedLEDMask = 1<<(RedLED1Offset-LEDOffset)
	mask corresponding to RedLEDOffset
const LEDBitMask_t	YellowLEDMask = 1<<(RedLED2Offset-LEDOffset)
	mask corresponding to YellowLEDOffset
const LEDBitMask_t	GreenLEDMask = 1<<(GreenLED1Offset-LEDOffset)
	mask corresponding to GreenLEDOffset
const LEDBitMask_t	BlueLEDMask = (1<<(GreenLED2Offset-LEDOffset))
	mask corresponding to BlueLEDOffset
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
Input Offsets
The order in which inputs should be stored
enum	ButtonOffset_t {   B0ButOffset, B1ButOffset, B2ButOffset, DropLeftWheelButOffset,   DropRightWheelButOffset, BumpLeftButOffset, BumpRightButOffset, BumpCenterButOffset,   CliffLeftButOffset, CliffRightButOffset, CliffCenterButOffset }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	SensorOffset_t {   LeftEncoderOffset, RightEncoderOffset, LeftPwmOffset, RightPwmOffset,   ChargerOffset, BatteryOffset, OverCurrentOffset, Docking0Offset,   Docking1Offset, Docking2Offset, AngleOffset, AngleRateOffset,   Acc0Offset, Acc1Offset, Acc2Offset, Bottom0Offset,   Bottom1Offset, Bottom2Offset, Current0Offset, Current1Offset,   FrameIdOffset, FollowedDataLenghtOffset, GyroParam0Offset, GyroParam1Offset,   GyroParam2Offset, GyroParam3Offset, GyroParam4Offset, GyroParam5Offset,   GyroParam6Offset, GyroParam7Offset, GyroParam8Offset, DigitalInputOffset,   AnalogInput0Offset, AnalogInput1Offset, AnalogInput2Offset, AnalogInput3Offset,   AnalogInput4Offset, AnalogInput5Offset, AnalogInput6Offset, GPSXOffset,   GPSYOffset, GPSHeadingOffset }
	holds offset to different sensor values in WorldState::sensors[] More...
const ButtonOffset_t	GreenButOffset = B0ButOffset
	holds offsets to different buttons in WorldState::buttons[]
const ButtonOffset_t	YellowButOffset = B1ButOffset
	holds offsets to different buttons in WorldState::buttons[]
const ButtonOffset_t	RedButOffset = B2ButOffset
	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.

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Detailed Description

Contains information about the CalliopeU, such as number of joints, LEDs, etc.

---

Typedef Documentation

typedef unsigned int CalliopeUInfo::LEDBitMask_t

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

Definition at line 114 of file CalliopeUInfo.h.

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Enumeration Type Documentation

enum CalliopeUInfo::ButtonOffset_t

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

Should be a straight mapping to the ButtonSourceIDs

See also:

WorldState::buttons

Enumerator:

B0ButOffset	1 if play button is down
B1ButOffset	1 if advance button is down
B2ButOffset	1 if advance button is down
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
BumpCenterButOffset	1 if center bumber is pressed
CliffLeftButOffset
CliffRightButOffset
CliffCenterButOffset

Definition at line 148 of file CalliopeUInfo.h.

enum CalliopeUInfo::HeadOffset_t

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

Enumerator:

HeadPanOffset	pan/heading (horizontal)
HeadTiltOffset	tilt/elevation (vertical)

Definition at line 90 of file CalliopeUInfo.h.

enum CalliopeUInfo::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

RedLED1Offset
GreenLED1Offset
RedLED2Offset
GreenLED2Offset

Definition at line 102 of file CalliopeUInfo.h.

enum CalliopeUInfo::SensorOffset_t

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

See also:

WorldState::sensors[]

Enumerator:

LeftEncoderOffset	Core Sensors.
RightEncoderOffset
LeftPwmOffset
RightPwmOffset
ChargerOffset
BatteryOffset
OverCurrentOffset
Docking0Offset	Dock IR.
Docking1Offset
Docking2Offset
AngleOffset	Inertia.
AngleRateOffset
Acc0Offset
Acc1Offset
Acc2Offset
Bottom0Offset	Cliff.
Bottom1Offset
Bottom2Offset
Current0Offset	Current.
Current1Offset
FrameIdOffset	Three Axis Gyro.
FollowedDataLenghtOffset
GyroParam0Offset
GyroParam1Offset
GyroParam2Offset
GyroParam3Offset
GyroParam4Offset
GyroParam5Offset
GyroParam6Offset
GyroParam7Offset
GyroParam8Offset
DigitalInputOffset	GpInput.
AnalogInput0Offset
AnalogInput1Offset
AnalogInput2Offset
AnalogInput3Offset
AnalogInput4Offset
AnalogInput5Offset
AnalogInput6Offset
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 185 of file CalliopeUInfo.h.

enum CalliopeUInfo::TPROffset_t

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Enumerator:

PanOffset	pan/heading (horizontal)
TiltOffset	tilt/elevation (vertical)
NodOffset	replicated tilt (could be left undefined instead...)

Definition at line 83 of file CalliopeUInfo.h.

enum CalliopeUInfo::WheelOffset_t

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Enumerator:

SpeedOffset
RadiusOffset

Definition at line 95 of file CalliopeUInfo.h.

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Variable Documentation

const fmat::Column<3> CalliopeUInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0)

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

Definition at line 130 of file CalliopeUInfo.h.

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

Half of the length, width, and height of the robot without gadgets (E.G arms).

Definition at line 133 of file CalliopeUInfo.h.

const LEDBitMask_t CalliopeUInfo::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 126 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 79 of file CalliopeUInfo.h.

const LEDBitMask_t CalliopeUInfo::BlueLEDMask = (1<<(GreenLED2Offset-LEDOffset))

mask corresponding to BlueLEDOffset

Definition at line 119 of file CalliopeUInfo.h.

const LEDOffset_t CalliopeUInfo::BlueLEDOffset = GreenLED2Offset

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Definition at line 112 of file CalliopeUInfo.h.

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

Initial value:

 { 
    "Button0", 
    "Button1",
    "Button2",
    "LeftWheelDrop", 
    "RightWheelDrop",
    "BumpLeft", 
    "BumpRight", 
    "BumpCenter",
    "CliffLeft",
    "CliffRight",
    "CliffCenter",
    NULL
  }

Provides a string name for each button.

Definition at line 168 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::CameraFrameOffset = BaseFrameOffset + 1

Use with kinematics to refer to camera reference frame.

Definition at line 80 of file CalliopeUInfo.h.

const CalliopeUCapabilities CalliopeUInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 104 of file RobotInfo.cc.

const float CalliopeUInfo::DefaultPIDs[NumPIDJoints+1][3]

Initial value:

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

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

Definition at line 338 of file CalliopeUInfo.h.

const LEDBitMask_t CalliopeUInfo::FaceLEDMask = 0

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

Definition at line 124 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::FingerJointsPerArm = 0

The number of joints per leg.

Definition at line 35 of file CalliopeUInfo.h.

const unsigned int CalliopeUInfo::FrameTime = 30

time between frames in the motion system (milliseconds)

Definition at line 28 of file CalliopeUInfo.h.

const ButtonOffset_t CalliopeUInfo::GreenButOffset = B0ButOffset

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

Should be a straight mapping to the ButtonSourceIDs

See also:

WorldState::buttons

Definition at line 163 of file CalliopeUInfo.h.

const LEDBitMask_t CalliopeUInfo::GreenLEDMask = 1<<(GreenLED1Offset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 118 of file CalliopeUInfo.h.

const LEDOffset_t CalliopeUInfo::GreenLEDOffset = GreenLED1Offset

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Definition at line 111 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::HeadOffset = WheelOffset+NumWheels

the offset of the beginning of the head joints, add TPROffset_t to get specific joint

Definition at line 73 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::JointsPerArm = 0

The number of joints per leg.

Definition at line 36 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 40 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::LEDOffset = HeadOffset+NumHeadJoints

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Definition at line 75 of file CalliopeUInfo.h.

const float CalliopeUInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    0, 0,  
    0, 0, 0, 0 
  }

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

Definition at line 344 of file CalliopeUInfo.h.

const float CalliopeUInfo::mechanicalLimits[NumOutputs][2]

Initial value:

    {
      { -500 , 500 },
      { -500 , 500 },
      {  0 , 1 },  
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 },
    }

This table holds the mechanical limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).

Same as outputRanges, don't know actual values because they were never specified by Sony

Definition at line 369 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::ModeOffset = LEDOffset + NumLEDs

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Definition at line 77 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 38 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumArms = 0

The number of joints per leg.

Definition at line 37 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumButtons = 11

the number of buttons that are available

Definition at line 47 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumEarJoints = 0

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

Definition at line 46 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 50 of file CalliopeUInfo.h.

const unsigned int CalliopeUInfo::NumFrames = 1

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

Definition at line 29 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumHeadJoints = 0

The number of joints in the neck.

Definition at line 43 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumLEDs = 4

The number of LEDs which can be controlled.

Definition at line 49 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 42 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumLegs = 0

The number of legs.

Definition at line 41 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 45 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumOutputs = NumPIDJoints + NumLEDs

the total number of outputs

Definition at line 53 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumPIDJoints = NumWheels

servo pins

Definition at line 52 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumReferenceFrames = NumOutputs + 1 + NumArms + 1

for the base, gripper (* NumArms), and Camera

Definition at line 54 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumSensors = 42

the number of sensors available

Definition at line 48 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 44 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::NumWheels = 2

The number of joints per leg.

Definition at line 33 of file CalliopeUInfo.h.

const char* const CalliopeUInfo::outputNames[NumReferenceFrames+1]

Initial value:

 {
    "Speed",
    "Radius",
    "LED1:Red",
    "LED1:Green",
    "LED2:Red",
    "LED2:Green",
    "BaseFrame",
    "CameraFrame",
    NULL
  }

Names for each of the outputs.

Definition at line 313 of file CalliopeUInfo.h.

const float CalliopeUInfo::outputRanges[NumOutputs][2]

Initial value:

    {
      { -500 , 500 },
      { -500 , 500 },
      {  0 , 1 }, 
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 }
    }

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 357 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 71 of file CalliopeUInfo.h.

const ButtonOffset_t CalliopeUInfo::RedButOffset = B2ButOffset

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

Should be a straight mapping to the ButtonSourceIDs

See also:

WorldState::buttons

Definition at line 165 of file CalliopeUInfo.h.

const LEDBitMask_t CalliopeUInfo::RedLEDMask = 1<<(RedLED1Offset-LEDOffset)

mask corresponding to RedLEDOffset

Definition at line 116 of file CalliopeUInfo.h.

const LEDOffset_t CalliopeUInfo::RedLEDOffset = RedLED1Offset

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Definition at line 109 of file CalliopeUInfo.h.

const char* const CalliopeUInfo::sensorNames[NumSensors+1]

Provides a string name for each sensor.

Definition at line 247 of file CalliopeUInfo.h.

const unsigned int CalliopeUInfo::SoundBufferTime = 32

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

Definition at line 30 of file CalliopeUInfo.h.

const char *const CalliopeUInfo::TargetName = "CalliopeU"

the name of the model, to be used for logging and remote GUIs

Definition at line 103 of file RobotInfo.cc.

const float CalliopeUInfo::tickToRad = 0.002436916871363930187454f

The number of joints per leg.

Definition at line 58 of file CalliopeUInfo.h.

const float CalliopeUInfo::wheelBase = 230.0

Kobuki wheel base in mm.

Definition at line 56 of file CalliopeUInfo.h.

const unsigned CalliopeUInfo::WheelOffset = PIDJointOffset

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Definition at line 72 of file CalliopeUInfo.h.

const float CalliopeUInfo::wheelRadius = 35.0

Kobuki wheel radius in mm.

Definition at line 57 of file CalliopeUInfo.h.

const ButtonOffset_t CalliopeUInfo::YellowButOffset = B1ButOffset

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

Should be a straight mapping to the ButtonSourceIDs

See also:

WorldState::buttons

Definition at line 164 of file CalliopeUInfo.h.

const LEDBitMask_t CalliopeUInfo::YellowLEDMask = 1<<(RedLED2Offset-LEDOffset)

mask corresponding to YellowLEDOffset

Definition at line 117 of file CalliopeUInfo.h.

const LEDOffset_t CalliopeUInfo::YellowLEDOffset = RedLED2Offset

The offsets of appendages with pan (heading), tilt (elevation), note that this should be added to HeadOffset, otherwise use HeadOffset_t (HeadPanOffset and HeadTiltOffset).

Definition at line 110 of file CalliopeUInfo.h.