CreateInfo Namespace Reference

Contains information about an iRobot Create, such as number of joints, LEDs, etc. More...

Functions
const Capabilities	capabilities (TargetName, NumReferenceFrames, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, LEDOffset, NumLEDs, NumOutputs)
Variables
const char *const	TargetName = "Create"
	the name of the model, to be used for logging and remote GUIs
const unsigned int	FrameTime = 15
	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 Capabilities	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 = 15
	the number of buttons that are available
const unsigned	NumSensors = 22
	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 + 1
	the total number of outputs
const unsigned	NumReferenceFrames = NumOutputs + 1 + NumArms + 1
	for the base, gripper (* NumArms), and Camera
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 { LWheelOffset = WheelOffset, RWheelOffset }
	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 { PowerRedLEDOffset = LEDOffset, PowerGreenLEDOffset, PlayLEDOffset, AdvanceLEDOffset }
	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 = PowerRedLEDOffset
	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 = AdvanceLEDOffset
	Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask.
const LEDOffset_t	GreenLEDOffset = PlayLEDOffset
	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 = AdvanceLEDOffset
	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	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
Input Offsets
The order in which inputs should be stored
enum	ButtonOffset_t { PlayButOffset, AdvanceButOffset, WallButOffset, DropCasterButOffset, DropLeftWheelButOffset, DropRightWheelButOffset, BumpLeftButOffset, BumpRightButOffset, OvercurrentLeftWheelOffset, OvercurrentRightWheelOffset, LowSideDriver0ButOffset, LowSideDriver1ButOffset, LowSideDriver2ButOffset, BaseChargerButOffset, InternalChargerButOffset }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	SensorOffset_t { DigitalInput0Offset, DigitalInput1Offset, DigitalInput2Offset, DigitalInput3Offset, AnalogSignalOffset, WallSignalOffset, IRCommOffset, CliffLeftSignalOffset, CliffFrontLeftSignalOffset, CliffFrontRightSignalOffset, CliffRightSignalOffset, EncoderDistanceOffset, EncoderAngleOffset, VoltageOffset, CurrentOffset, BatteryChargeOffset, BatteryTempOffset, ChargingStateOffset, ModeStateOffset, GPSXOffset, GPSYOffset, GPSHeadingOffset }
	holds offset to different sensor values in WorldState::sensors[] More...
enum	IRComm_t { IR_REMOTE_LEFT = 129, IR_REMOTE_FORWARD, IR_REMOTE_RIGHT, IR_REMOTE_SPOT, IR_REMOTE_MAX, IR_REMOTE_SMALL, IR_REMOTE_MEDIUM, IR_REMOTE_LARGE, IR_REMOTE_PAUSE, IR_REMOTE_POWER, IR_REMOTE_ARC_LEFT, IR_REMOTE_ARC_RIGHT, IR_REMOTE_STOP, IR_REMOTE_SEND, IR_REMOTE_DOCK, IR_BASE_RED = 248, IR_BASE_GREEN = 244, IR_BASE_FORCE = 242, IR_BASE_RED_GREEN = 252, IR_BASE_RED_FORCE = 250, IR_BASE_GREEN_FORCE = 246, IR_BASE_RED_GREEN_FORCE = 254 }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	ChargingState_t { CHARGING_OFF, CHARGING_RECONDITIONING, CHARGING_FULL, CHARGING_TRICKLE, CHARGING_WAITING, CHARGING_FAULT }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	ModeState_t { MODE_OFF, MODE_PASSIVE, MODE_SAFE, MODE_FULL }
	holds offsets to different buttons in WorldState::buttons[] More...
const ButtonOffset_t	GreenButOffset = PlayButOffset
	holds offsets to different buttons in WorldState::buttons[]
const ButtonOffset_t	YellowButOffset = AdvanceButOffset
	holds offsets to different buttons in WorldState::buttons[]
const ButtonOffset_t	RedButOffset = PlayButOffset
	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.

Detailed Description

Contains information about an iRobot Create, such as number of joints, LEDs, etc.

Typedef Documentation

typedef unsigned int CreateInfo::LEDBitMask_t

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

Definition at line 112 of file CreateInfo.h.

Enumeration Type Documentation

enum CreateInfo::ButtonOffset_t

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

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

PlayButOffset	1 if play button is down
AdvanceButOffset	1 if advance button is down
WallButOffset	1 if wall is detected (note correspondence to WALL_SIGNAL_OFFSET's value, avoiding problems if the two are swapped)
DropCasterButOffset	1 if caster detects dropoff
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
OvercurrentLeftWheelOffset	1 if the left wheel is drawing more than 1 amp
OvercurrentRightWheelOffset	1 if the right wheel is drawing more than 1 amp
LowSideDriver0ButOffset	1 if low side driver 0 is pulling more than 0.5 amps
LowSideDriver1ButOffset	1 if low side driver 1 is pulling more than 0.5 amps
LowSideDriver2ButOffset	1 if low side driver 2 is pulling more than 1.6 amps
BaseChargerButOffset	1 if the home base charger is available
InternalChargerButOffset	1 if the internal charger is available

Definition at line 150 of file CreateInfo.h.

enum CreateInfo::ChargingState_t

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

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

CHARGING_OFF
CHARGING_RECONDITIONING
CHARGING_FULL
CHARGING_TRICKLE
CHARGING_WAITING
CHARGING_FAULT

Definition at line 240 of file CreateInfo.h.

enum CreateInfo::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 88 of file CreateInfo.h.

enum CreateInfo::IRComm_t

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

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

IR_REMOTE_LEFT
IR_REMOTE_FORWARD
IR_REMOTE_RIGHT
IR_REMOTE_SPOT
IR_REMOTE_MAX
IR_REMOTE_SMALL
IR_REMOTE_MEDIUM
IR_REMOTE_LARGE
IR_REMOTE_PAUSE
IR_REMOTE_POWER
IR_REMOTE_ARC_LEFT
IR_REMOTE_ARC_RIGHT
IR_REMOTE_STOP
IR_REMOTE_SEND
IR_REMOTE_DOCK
IR_BASE_RED
IR_BASE_GREEN
IR_BASE_FORCE
IR_BASE_RED_GREEN
IR_BASE_RED_FORCE
IR_BASE_GREEN_FORCE
IR_BASE_RED_GREEN_FORCE

Definition at line 211 of file CreateInfo.h.

enum CreateInfo::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

PowerRedLEDOffset
PowerGreenLEDOffset
PlayLEDOffset
AdvanceLEDOffset

Definition at line 100 of file CreateInfo.h.

enum CreateInfo::ModeState_t

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

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

MODE_OFF
MODE_PASSIVE
MODE_SAFE
MODE_FULL

Definition at line 249 of file CreateInfo.h.

enum CreateInfo::SensorOffset_t

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

See also:: WorldState::sensors[]

Enumerator:

DigitalInput0Offset	the digital input pins in bits 0 through 4
DigitalInput1Offset	the digital input pins in bits 0 through 4
DigitalInput2Offset	the digital input pins in bits 0 through 4
DigitalInput3Offset	the digital input pins in bits 0 through 4
AnalogSignalOffset	voltage on cargo bay pin 4
WallSignalOffset	strength of the wall sensor's signal (note correspondence to WALL_OFFSET's value, avoid problems if the two are swapped)
IRCommOffset	value received by the infrared communication receiver, see IRComm_t for values sent by standard hardware
CliffLeftSignalOffset	strength of the left cliff sensor
CliffFrontLeftSignalOffset	strength of the front left cliff sensor
CliffFrontRightSignalOffset	strength of the front right cliff sensor
CliffRightSignalOffset	strength of the right cliff sensor
EncoderDistanceOffset	average distance (mm) traveled by the wheels since last update
EncoderAngleOffset	average angle (radians) rotated since the last update
VoltageOffset	mV measured at battery
CurrentOffset	mA flowing into battery (negative when discharging)
BatteryChargeOffset	mAh remaining in battery (may not be accurate with alkaline battery pack)
BatteryTempOffset	degrees celsius
ChargingStateOffset	one of ChargingState_t
ModeStateOffset	one of ModeState_t
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 186 of file CreateInfo.h.

enum CreateInfo::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 81 of file CreateInfo.h.

enum CreateInfo::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:

LWheelOffset
RWheelOffset

Definition at line 93 of file CreateInfo.h.

Function Documentation

const Capabilities CreateInfo::capabilities	(	TargetName	,
		NumReferenceFrames	,
		outputNames	,
		NumButtons	,
		buttonNames	,
		NumSensors	,
		sensorNames	,
		PIDJointOffset	,
		NumPIDJoints	,
		LEDOffset	,
		NumLEDs	,
		NumOutputs
	)

Variable Documentation

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

mask corresponding to RedLEDOffset

Definition at line 123 of file CreateInfo.h.

const fmat::Column<3> CreateInfo::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 132 of file CreateInfo.h.

const fmat::Column<3> CreateInfo::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 135 of file CreateInfo.h.

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

selects all of the leds

Definition at line 128 of file CreateInfo.h.

const unsigned CreateInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 77 of file CreateInfo.h.

const LEDBitMask_t CreateInfo::BlueLEDMask

Initial value:

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

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

Definition at line 114 of file CreateInfo.h.

const LEDOffset_t CreateInfo::BlueLEDOffset = AdvanceLEDOffset

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

Definition at line 108 of file CreateInfo.h.

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

Initial value:

 { 
    "Play", "Advance",
    "Wall",
    "CasterDrop", "LWheelDrop", "RWheelDrop",
    "LBump", "RBump",
    "LOverCurrent", "ROverCurrent",
    "DriverLow0", "DriverLow1", "DriverLow2",
    "BaseCharger", "InternalCharger",
    NULL
  }

Provides a string name for each button.

Definition at line 173 of file CreateInfo.h.

const unsigned CreateInfo::CameraFrameOffset = BaseFrameOffset + 1

Use with kinematics to refer to camera reference frame.

Definition at line 78 of file CreateInfo.h.

const Capabilities CreateInfo::capabilities(TargetName, NumReferenceFrames, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, LEDOffset, NumLEDs, NumOutputs)

allocation declared in RobotInfo.cc

Definition at line 37 of file DynamicInfo.cc.

const float CreateInfo::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 304 of file CreateInfo.h.

const LEDBitMask_t CreateInfo::FaceLEDMask = 0

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

Definition at line 126 of file CreateInfo.h.

const unsigned CreateInfo::FingerJointsPerArm = 0

The number of joints per leg.

Definition at line 35 of file CreateInfo.h.

const unsigned int CreateInfo::FrameTime = 15

time between frames in the motion system (milliseconds)

Definition at line 28 of file CreateInfo.h.

const ButtonOffset_t CreateInfo::GreenButOffset = PlayButOffset

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

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Definition at line 168 of file CreateInfo.h.

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

mask corresponding to GreenLEDOffset

Definition at line 116 of file CreateInfo.h.

const LEDOffset_t CreateInfo::GreenLEDOffset = PlayLEDOffset

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 CreateInfo.h.

const unsigned CreateInfo::HeadOffset = WheelOffset+NumWheels

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

Definition at line 71 of file CreateInfo.h.

const unsigned CreateInfo::JointsPerArm = 0

The number of joints per leg.

Definition at line 36 of file CreateInfo.h.

const unsigned CreateInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 40 of file CreateInfo.h.

const unsigned CreateInfo::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 73 of file CreateInfo.h.

const float CreateInfo::MaxOutputSpeed[NumOutputs]

Initial value:

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

Definition at line 310 of file CreateInfo.h.

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

Initial value:

    {
      { -500 , 500 },
      { -500 , 500 },
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 },
      { MODE_PASSIVE, MODE_SAFE }
    }

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 341 of file CreateInfo.h.

const unsigned CreateInfo::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 75 of file CreateInfo.h.

const unsigned CreateInfo::NumArmJoints = JointsPerArm*NumArms

The number of joints per leg.

Definition at line 38 of file CreateInfo.h.

const unsigned CreateInfo::NumArms = 0

The number of joints per leg.

Definition at line 37 of file CreateInfo.h.

const unsigned CreateInfo::NumButtons = 15

the number of buttons that are available

Definition at line 47 of file CreateInfo.h.

const unsigned CreateInfo::NumEarJoints = 0

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

Definition at line 46 of file CreateInfo.h.

const unsigned CreateInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 50 of file CreateInfo.h.

const unsigned int CreateInfo::NumFrames = 1

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

Definition at line 29 of file CreateInfo.h.

const unsigned CreateInfo::NumHeadJoints = 0

The number of joints in the neck.

Definition at line 43 of file CreateInfo.h.

const unsigned CreateInfo::NumLEDs = 4

The number of LEDs which can be controlled.

Definition at line 49 of file CreateInfo.h.

const unsigned CreateInfo::NumLegJoints = JointsPerLeg*NumLegs

the TOTAL number of joints on ALL legs

Definition at line 42 of file CreateInfo.h.

const unsigned CreateInfo::NumLegs = 0

The number of legs.

Definition at line 41 of file CreateInfo.h.

const unsigned CreateInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 45 of file CreateInfo.h.

const unsigned CreateInfo::NumOutputs = NumPIDJoints + NumLEDs + 1

the total number of outputs

Definition at line 53 of file CreateInfo.h.

const unsigned CreateInfo::NumPIDJoints = NumWheels

servo pins

Definition at line 52 of file CreateInfo.h.

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

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

Definition at line 54 of file CreateInfo.h.

const unsigned CreateInfo::NumSensors = 22

the number of sensors available

Definition at line 48 of file CreateInfo.h.

const unsigned CreateInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 44 of file CreateInfo.h.

const unsigned CreateInfo::NumWheels = 2

The number of joints per leg.

Definition at line 33 of file CreateInfo.h.

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

Initial value:

 {
    "WHEEL:L",
    "WHEEL:R",
    "LED:Power(Red)",
    "LED:Power(Green)",
    "LED:Play",
    "LED:Advance",
    "DesiredMode",
    "BaseFrame",
    "CameraFrame",
    NULL
  }

Names for each of the outputs.

Definition at line 287 of file CreateInfo.h.

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

Initial value:

    {
      { -500 , 500 },
      { -500 , 500 },
      {  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 328 of file CreateInfo.h.

const unsigned CreateInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 69 of file CreateInfo.h.

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

mask corresponding to YellowLEDOffset

Definition at line 122 of file CreateInfo.h.

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

mask corresponding to GreenLEDOffset

Definition at line 121 of file CreateInfo.h.

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

mask corresponding to BlueLEDOffset

Definition at line 120 of file CreateInfo.h.

const ButtonOffset_t CreateInfo::RedButOffset = PlayButOffset

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

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Definition at line 170 of file CreateInfo.h.

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

mask corresponding to RedLEDOffset

Definition at line 118 of file CreateInfo.h.

const LEDOffset_t CreateInfo::RedLEDOffset = PowerRedLEDOffset

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 107 of file CreateInfo.h.

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

Initial value:

 { 
    "DigitalIn0",
    "DigitalIn1",
    "DigitalIn2",
    "DigitalIn3",
    "AnalogIn",
    "WallSignal",
    "IR",
    "CliffLeftSignal",
    "CliffFrontLeftSignal",
    "CliffFrontRightSignal",
    "CliffRight",
    "Distance",
    "Angle",
    "BatteryVoltage",
    "BatteryCurrent",
    "BatteryCharge",
    "BatteryTemp",
    "ChargingState",
    "ModeState",
    "GPSX",
    "GPSY",
    "GPSHeading",
    NULL
  }

Provides a string name for each sensor.

Definition at line 257 of file CreateInfo.h.

const unsigned int CreateInfo::SoundBufferTime = 32

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

Definition at line 30 of file CreateInfo.h.

const char *const CreateInfo::TargetName = "Create"

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

Definition at line 62 of file RobotInfo.cc.

const unsigned CreateInfo::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 70 of file CreateInfo.h.

const ButtonOffset_t CreateInfo::YellowButOffset = AdvanceButOffset

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

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Definition at line 169 of file CreateInfo.h.

const LEDBitMask_t CreateInfo::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset)

mask corresponding to YellowLEDOffset

Definition at line 117 of file CreateInfo.h.

const LEDOffset_t CreateInfo::YellowLEDOffset = AdvanceLEDOffset

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 CreateInfo.h.

CreateInfo Namespace Reference

Functions

Variables

Output Offsets

Input Offsets

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation