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Chiara2Info Namespace ReferenceContains information about an Chiara hexapod robot, such as number of joints, LEDs, etc. More...
Detailed DescriptionContains information about an Chiara hexapod robot, such as number of joints, LEDs, etc. Typedef Documentation
So you can be clear when you're refering to a LED bitmask. Definition at line 162 of file Chiara2Info.h. Enumeration Type DocumentationThese are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do.
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.
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. 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.
Definition at line 152 of file Chiara2Info.h. The offsets of the individual legs, add REKOffset_t value to access specific joint.
Definition at line 123 of file Chiara2Info.h. the ordering of legs
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.
Definition at line 107 of file Chiara2Info.h. holds offset to different sensor values in WorldState::sensors[]
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).
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.
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.
The number of joints per leg. Definition at line 42 of file Chiara2Info.h.
Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw). Definition at line 87 of file Chiara2Info.h. Referenced by GaitedFootsteps::addCandidate(), GaitedFootsteps::addRotation(), Kinematics::calcLegHeights(), Kinematics::calculateGroundPlane(), GaitedFootsteps::expand(), XWalkMC::sendLoadPredictions(), XWalkMC::solveIK(), GaitedFootstepMC::solveIK(), XWalkMC::start(), XWalkMC::stop(), GaitedFootstepMC::updateOutputs(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().
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.
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().
The number of joints per leg. Definition at line 43 of file Chiara2Info.h.
The number of joints per leg. Definition at line 47 of file Chiara2Info.h.
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().
mask corresponding to LFrKneeLEDOffset Definition at line 165 of file Chiara2Info.h.
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.
The number of joints per leg. Definition at line 44 of file Chiara2Info.h.
the number of buttons that are available Definition at line 54 of file Chiara2Info.h.
The number of joints which control the ears (NOT per ear, is total). Definition at line 53 of file Chiara2Info.h.
The number of face panel LEDs. Definition at line 56 of file Chiara2Info.h.
the number of frames per buffer (don't forget also double buffered) Definition at line 36 of file Chiara2Info.h.
The number of joints in the pantilt. Definition at line 50 of file Chiara2Info.h.
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.
The number of legs. Definition at line 48 of file Chiara2Info.h.
the number of joints that control the mouth Definition at line 52 of file Chiara2Info.h.
The number of joints per leg. Definition at line 59 of file Chiara2Info.h.
for the base, feet, gripper, camera, and IR distance rangefinder Definition at line 62 of file Chiara2Info.h.
the number of sensors available Definition at line 55 of file Chiara2Info.h.
The number of joints assigned to the tail. Definition at line 51 of file Chiara2Info.h.
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.
The beginning of the PID Joints. Definition at line 78 of file Chiara2Info.h.
mask corresponding to RBkKneeLEDOffset Definition at line 168 of file Chiara2Info.h.
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.
mask corresponding to RMdKneeLEDOffset Definition at line 166 of file Chiara2Info.h.
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.
the number of milliseconds per sound buffer... I'm not sure if this can be changed Definition at line 37 of file Chiara2Info.h.
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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