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Chiara2Info Namespace Reference

Contains information about an Chiara hexapod robot, such as number of joints, LEDs, etc. More...

Classes

class  ChiaraCapabilities
 provides polymorphic robot capability detection/mapping More...

Variables

const char *const TargetName = "Chiara2"
 the name of the model, to be used for logging and remote GUIs
const unsigned int FrameTime = 32
 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 char *const outputNames [NumReferenceFrames+1]
 Names for each of the outputs.
const ChiaraCapabilities capabilities
 allocation declared in RobotInfo.cc
const float DefaultPIDs [NumPIDJoints][3]
 Dynamixel servos don't use PID control. Instead, these values indicate compliance slope (P), punch (add to P*error), compliance margin (min error to start applying torque) (see ServoParam_t).
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 = 0
 The number of joints per leg.
const unsigned FingerJointsPerArm = 2
 The number of joints per leg.
const unsigned JointsPerArm = 6
 The number of joints per leg.
const unsigned NumArms = 1
 The number of joints per leg.
const unsigned NumArmJoints = JointsPerArm*NumArms
 The number of joints per leg.
const unsigned JointsPerLeg = 3
 The number of joints per leg.
const unsigned NumLegs = 6
 The number of legs.
const unsigned NumLegJoints = JointsPerLeg*NumLegs
 the TOTAL number of joints on ALL legs
const unsigned NumHeadJoints = 2
 The number of joints in the pantilt.
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 = 3
 the number of buttons that are available
const unsigned NumSensors = 11
 the number of sensors available
const unsigned NumFacePanelLEDs = 0
 The number of face panel LEDs.
const unsigned NumLEDs = NumLegs + 1
 There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones: knees and pan.
const unsigned NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints+NumTailJoints+NumMouthJoints
 The number of joints per leg.
const unsigned NumOutputs = NumWheels + NumPIDJoints + NumLEDs
 servo pins
const unsigned NumReferenceFrames = NumOutputs + 1 + NumLegs + NumArms + 1 + 3
 for the base, feet, gripper, camera, and IR distance rangefinder
const float BallOfFootRadius = 0
 radius of the ball of the foot

Output Offsets

Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file



enum  LegOrder_t {
  RFrLegOrder = 0, LFrLegOrder, RMdLegOrder, LMdLegOrder,
  RBkLegOrder, LBkLegOrder
}
 

the ordering of legs

More...
enum  SEKOffset_t { SweepOffset = 0, ElevatorOffset, KneeOffset }
 

The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage.

More...
enum  TPROffset_t { PanOffset = 0, TiltOffset, NodOffset = TiltOffset, RollOffset }
 

The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist).

More...
enum  LegOffset_t {
  RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, RMdLegOffset = LegOffset+RMdLegOrder*JointsPerLeg, LMdLegOffset = LegOffset+LMdLegOrder*JointsPerLeg,
  RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg, LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg
}
 

The offsets of the individual legs, add REKOffset_t value to access specific joint.

More...
enum  ArmOffset_t {
  ArmShoulderOffset = ArmOffset, ArmElbowOffset, WristOffset, WristYawOffset = WristOffset,
  WristPitchOffset, GripperLeftOffset, GripperRightOffset, GripperOffset
}
 

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

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  LEDOffset_t {
  RFrKneeLEDOffset = LEDOffset, LFrKneeLEDOffset, RMdKneeLEDOffset, LMdKneeLEDOffset,
  RBkKneeLEDOffset, LBkKneeLEDOffset, HeadLEDOffset
}
 

The offsets of the individual LEDs, one LED on each dynamixel servo, these match the servo order, so this is empty.

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 RFrRotatorOffset = PIDJointOffset
 The right front leg's rotator joint.
const unsigned LegOffset = RFrRotatorOffset+1
 the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t
const unsigned ArmOffset = LegOffset+NumLegJoints
 the offset of the beginning of the arm joints, add TPROffset_t to get specific joint
const unsigned HeadOffset = ArmOffset+NumArmJoints
 the offset of the beginning of the head joints, add TPROffset_t to get specific joint
const unsigned LEDOffset = PIDJointOffset + NumPIDJoints
 the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
const unsigned BaseFrameOffset = NumOutputs
 Use with kinematics to refer to base reference frame.
const unsigned FootFrameOffset = BaseFrameOffset+1
 Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw).
const unsigned GripperFrameOffset = FootFrameOffset+NumLegs
 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 LEDBitMask_t RFrKneeLEDMask = 1<<(RFrKneeLEDOffset-LEDOffset)
 mask corresponding to RFrKneeLEDOffset
const LEDBitMask_t LFrKneeLEDMask = 1<<(LFrKneeLEDOffset-LEDOffset)
 mask corresponding to LFrKneeLEDOffset
const LEDBitMask_t RMdKneeLEDMask = 1<<(RMdKneeLEDOffset-LEDOffset)
 mask corresponding to RMdKneeLEDOffset
const LEDBitMask_t LMdKneeLEDMask = 1<<(LMdKneeLEDOffset-LEDOffset)
 mask corresponding to LMdKneeLEDOffset
const LEDBitMask_t RBkKneeLEDMask = 1<<(RBkKneeLEDOffset-LEDOffset)
 mask corresponding to RBkKneeLEDOffset
const LEDBitMask_t LBkKneeLEDMask = 1<<(LBkKneeLEDOffset-LEDOffset)
 mask corresponding to LBkKneeLEDOffset
const LEDBitMask_t HeadLEDMask = 1<<(HeadLEDOffset-LEDOffset)
 mask corresponding to HeadLEDOffset
const LEDBitMask_t FaceLEDMask = HeadLEDMask
 LEDs for the "face panel" -- on the Chiara this is just HeadLEDMask.
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 { GreenButOffset, RedButOffset, YellowButOffset }
 

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

More...
enum  SensorOffset_t {
  LeftIRDistOffset, CenterIRDistOffset, IRDistOffset = CenterIRDistOffset, RightIRDistOffset,
  LeftLuminosityOffset, CenterLuminosityOffset, RightLuminosityOffset, MicVolumeOffset,
  MicSpikeCountOffset, PowerRemainOffset, PowerThermoOffset, PowerVoltageOffset
}
 

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

More...
const char *const buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL }
 Provides a string name for each button.
const char *const sensorNames [NumSensors+1]
 Provides a string name for each sensor.

Detailed Description

Contains information about an Chiara hexapod robot, such as number of joints, LEDs, etc.


Typedef Documentation

typedef unsigned int Chiara2Info::LEDBitMask_t

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

Definition at line 162 of file Chiara2Info.h.


Enumeration Type Documentation

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

Enumerator:
ArmShoulderOffset 
ArmElbowOffset 
WristOffset 
WristYawOffset 
WristPitchOffset 
GripperLeftOffset 
GripperRightOffset 
GripperOffset 

Definition at line 133 of file Chiara2Info.h.

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

Should be a straight mapping to the ButtonSourceIDs

Note that the chest (power) button is not a normal button. It kills power to the motors at a hardware level, and isn't sensed in the normal way. If you want to know when it is pressed (and you are about to shut down) see PowerSrcID::PauseSID.

See also:
WorldState::buttons
ButtonSourceID_t
Enumerator:
GreenButOffset 
RedButOffset 
YellowButOffset 

Definition at line 197 of file Chiara2Info.h.

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 145 of file Chiara2Info.h.

The offsets of the individual LEDs, one LED on each dynamixel servo, these match the servo order, so this is empty.

Enumerator:
RFrKneeLEDOffset 

Small LED on the knee servo.

LFrKneeLEDOffset 

Small LED on the knee servo.

RMdKneeLEDOffset 

Small LED on the knee servo.

LMdKneeLEDOffset 

Small LED on the knee servo.

RBkKneeLEDOffset 

Small LED on the knee servo.

LBkKneeLEDOffset 

Small LED on the knee servo.

HeadLEDOffset 

Small LED on the camera's pan servo.

Definition at line 152 of file Chiara2Info.h.

The offsets of the individual legs, add REKOffset_t value to access specific joint.

Enumerator:
RFrLegOffset 

beginning of right front leg's joints

LFrLegOffset 

beginning of left front leg's joints

RMdLegOffset 

beginning of right front leg's joints

LMdLegOffset 

beginning of left front leg's joints

RBkLegOffset 

beginning of right back leg's joints

LBkLegOffset 

beginning of left back leg's joints

Definition at line 123 of file Chiara2Info.h.

the ordering of legs

Enumerator:
RFrLegOrder 

right front leg

LFrLegOrder 

left front leg

RMdLegOrder 

right middle leg

LMdLegOrder 

left middle leg

RBkLegOrder 

right back leg

LBkLegOrder 

left back leg

Definition at line 97 of file Chiara2Info.h.

The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage.

Enumerator:
SweepOffset 

moves leg forward or backward along body

ElevatorOffset 

moves leg toward or away from body

KneeOffset 

moves knee

Definition at line 107 of file Chiara2Info.h.

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

See also:
WorldState::sensors[]
Enumerator:
LeftIRDistOffset 
CenterIRDistOffset 
IRDistOffset 
RightIRDistOffset 
LeftLuminosityOffset 
CenterLuminosityOffset 
RightLuminosityOffset 
MicVolumeOffset 
MicSpikeCountOffset 
PowerRemainOffset 
PowerThermoOffset 

estimate of power capacity as percentage, 0-1

degrees Celcius

PowerVoltageOffset 

volts

Definition at line 204 of file Chiara2Info.h.

The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist).

Enumerator:
PanOffset 

pan/yaw/heading (horizontal)

TiltOffset 

tilt/pitch/elevation (vertical)

NodOffset 

replicated tilt (could be left undefined instead...)

RollOffset 

spin/twist final axis (can be applied to WristOffset, but Chiara neck only has pan/tilt)

Definition at line 114 of file Chiara2Info.h.


Variable Documentation

selects all of the leds

Definition at line 175 of file Chiara2Info.h.

Referenced by EmergencyStopMC::EmergencyStopMC(), and EmergencyStopMC::freezeJoints().

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

Definition at line 81 of file Chiara2Info.h.

radius of the ball of the foot

Definition at line 66 of file Chiara2Info.h.

Referenced by Kinematics::calcLegHeights(), and Kinematics::calculateGroundPlane().

Use with kinematics to refer to base reference frame.

Definition at line 86 of file Chiara2Info.h.

const char* const Chiara2Info::buttonNames[NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL }

Provides a string name for each button.

Definition at line 200 of file Chiara2Info.h.

Use with kinematics to refer to camera reference frame.

Definition at line 89 of file Chiara2Info.h.

allocation declared in RobotInfo.cc

Definition at line 153 of file RobotInfo.cc.

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

Definition at line 92 of file Chiara2Info.h.

Initial value:
 {
    {32,32,0},
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0},
  }

Dynamixel servos don't use PID control. Instead, these values indicate compliance slope (P), punch (add to P*error), compliance margin (min error to start applying torque) (see ServoParam_t).

I believe the torque calculation goes something like: torque = (error<compliance) ? 0 : punch + P*error Dynamixel servos allow different values to be supplied for CW vs. CCW motion, but we just use the same value for each

Definition at line 285 of file Chiara2Info.h.

LEDs for the "face panel" -- on the Chiara this is just HeadLEDMask.

Definition at line 173 of file Chiara2Info.h.

const unsigned Chiara2Info::FingerJointsPerArm = 2

The number of joints per leg.

Definition at line 42 of file Chiara2Info.h.

const unsigned int Chiara2Info::FrameTime = 32

time between frames in the motion system (milliseconds)

Definition at line 35 of file Chiara2Info.h.

Use with kinematics to refer to gripper reference frame.

Definition at line 88 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::HeadLEDMask = 1<<(HeadLEDOffset-LEDOffset)

mask corresponding to HeadLEDOffset

Definition at line 170 of file Chiara2Info.h.

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

Definition at line 82 of file Chiara2Info.h.

alias for CenterIRFrameOffset

Definition at line 93 of file Chiara2Info.h.

Referenced by Chiara2Info::ChiaraCapabilities::ChiaraCapabilities().

const unsigned Chiara2Info::JointsPerArm = 6

The number of joints per leg.

Definition at line 43 of file Chiara2Info.h.

const unsigned Chiara2Info::JointsPerLeg = 3

The number of joints per leg.

Definition at line 47 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::LBkKneeLEDMask = 1<<(LBkKneeLEDOffset-LEDOffset)

mask corresponding to LBkKneeLEDOffset

Definition at line 169 of file Chiara2Info.h.

the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets

Definition at line 84 of file Chiara2Info.h.

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

Definition at line 91 of file Chiara2Info.h.

the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t

Definition at line 80 of file Chiara2Info.h.

Referenced by Kinematics::calcLegHeights(), Kinematics::calculateGroundPlane(), XWalkParameters::computeNeutralPos(), XWalkMC::sendLoadPredictions(), GaitedFootsteps::setGait(), XWalkMC::setTargetVelocity(), XWalkMC::solveIK(), and XWalkMC::updateNeutralPos().

const LEDBitMask_t Chiara2Info::LFrKneeLEDMask = 1<<(LFrKneeLEDOffset-LEDOffset)

mask corresponding to LFrKneeLEDOffset

Definition at line 165 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::LMdKneeLEDMask = 1<<(LMdKneeLEDOffset-LEDOffset)

mask corresponding to LMdKneeLEDOffset

Definition at line 167 of file Chiara2Info.h.

Initial value:
 {
    
    0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,
    0.4f,0.4f,0.4f,0.4f,0.4f,0.4f,
    0.4f,0.4f,
    
    0,0,
    0,0,
    0,0,
    0,
  }

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

a value <= 0 means infinite speed (e.g. LEDs)

These limits are not enforced by the framework. They are simply available for you to use as you see fit. HeadPointerMC and PostureMC are primary examples of included classes which do respect these values (although they can be overridden)

These values were obtained from the administrators of the Sony OPEN-R BBS

Definition at line 304 of file Chiara2Info.h.

Initial value:
 {
    
    {RAD(-17),RAD(90)},
    {RAD(-102),RAD(67)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(58)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-73),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-95),RAD(95)}, {RAD(-95),RAD(95)}, {RAD(-100),RAD(100)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)},
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)},     

    
    {0,1}, {0,1},
    {0,1}, {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 351 of file Chiara2Info.h.

The number of joints per leg.

Definition at line 45 of file Chiara2Info.h.

const unsigned Chiara2Info::NumArms = 1

The number of joints per leg.

Definition at line 44 of file Chiara2Info.h.

const unsigned Chiara2Info::NumButtons = 3

the number of buttons that are available

Definition at line 54 of file Chiara2Info.h.

const unsigned Chiara2Info::NumEarJoints = 0

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

Definition at line 53 of file Chiara2Info.h.

const unsigned Chiara2Info::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 56 of file Chiara2Info.h.

const unsigned int Chiara2Info::NumFrames = 1

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

Definition at line 36 of file Chiara2Info.h.

const unsigned Chiara2Info::NumHeadJoints = 2

The number of joints in the pantilt.

Definition at line 50 of file Chiara2Info.h.

const unsigned Chiara2Info::NumLEDs = NumLegs + 1

There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones: knees and pan.

Definition at line 58 of file Chiara2Info.h.

the TOTAL number of joints on ALL legs

Definition at line 49 of file Chiara2Info.h.

const unsigned Chiara2Info::NumLegs = 6

The number of legs.

Definition at line 48 of file Chiara2Info.h.

const unsigned Chiara2Info::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 52 of file Chiara2Info.h.

servo pins

the total number of outputs

Definition at line 61 of file Chiara2Info.h.

The number of joints per leg.

Definition at line 59 of file Chiara2Info.h.

const unsigned Chiara2Info::NumReferenceFrames = NumOutputs + 1 + NumLegs + NumArms + 1 + 3

for the base, feet, gripper, camera, and IR distance rangefinder

Definition at line 62 of file Chiara2Info.h.

const unsigned Chiara2Info::NumSensors = 11

the number of sensors available

Definition at line 55 of file Chiara2Info.h.

const unsigned Chiara2Info::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 51 of file Chiara2Info.h.

const unsigned Chiara2Info::NumWheels = 0

The number of joints per leg.

Definition at line 40 of file Chiara2Info.h.

Names for each of the outputs.

Definition at line 231 of file Chiara2Info.h.

Initial value:
 {
    
    {RAD(-17),RAD(90)},
    {RAD(-102),RAD(67)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(58)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-73),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, 
    {RAD(-95),RAD(95)}, {RAD(-95),RAD(95)}, {RAD(-100),RAD(100)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)},
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)}, 
    
    
    {0,1}, {0,1},
    {0,1}, {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 330 of file Chiara2Info.h.

const unsigned Chiara2Info::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 78 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::RBkKneeLEDMask = 1<<(RBkKneeLEDOffset-LEDOffset)

mask corresponding to RBkKneeLEDOffset

Definition at line 168 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::RFrKneeLEDMask = 1<<(RFrKneeLEDOffset-LEDOffset)

mask corresponding to RFrKneeLEDOffset

Definition at line 164 of file Chiara2Info.h.

The right front leg's rotator joint.

Definition at line 79 of file Chiara2Info.h.

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

Definition at line 94 of file Chiara2Info.h.

const LEDBitMask_t Chiara2Info::RMdKneeLEDMask = 1<<(RMdKneeLEDOffset-LEDOffset)

mask corresponding to RMdKneeLEDOffset

Definition at line 166 of file Chiara2Info.h.

const char* const Chiara2Info::sensorNames[NumSensors+1]
Initial value:
 {
    "LeftIRDist", "CenterIRDist", "RightIRDist",
    "LeftLuminosity", "CenterLuminosity", "RightLuminosity",
    "MicVolume", "MicSpikeCount",
    "PowerRemain", "PowerThermo", "PowerVoltage", NULL
  }

Provides a string name for each sensor.

Definition at line 220 of file Chiara2Info.h.

const unsigned int Chiara2Info::SoundBufferTime = 32

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

Definition at line 37 of file Chiara2Info.h.

const char *const Chiara2Info::TargetName = "Chiara2"

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

Definition at line 152 of file RobotInfo.cc.


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