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ERS220Info Namespace ReferenceContains information about the ERS-220 Robot, such as number of joints, PID defaults, timing information, etc. More...
Detailed DescriptionContains information about the ERS-220 Robot, such as number of joints, PID defaults, timing information, etc. Typedef Documentation
So you can be clear when you're refering to a LED bitmask. Definition at line 175 of file ERS220Info.h. Enumeration Type Documentationholds 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 268 of file ERS220Info.h. The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t.
Definition at line 139 of file ERS220Info.h. The offsets of the individual legs.
Definition at line 129 of file ERS220Info.h. the ordering of legs
Definition at line 106 of file ERS220Info.h. The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's).
Definition at line 114 of file ERS220Info.h. holds offset to different sensor values in WorldState::sensors[]
Definition at line 292 of file ERS220Info.h. The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's).
Definition at line 121 of file ERS220Info.h. Variable Documentation
Offset needed so that the centroid of the robot is correct relative to the bounding box. Definition at line 245 of file ERS220Info.h.
Half of the length, width, and height of the robot. Definition at line 248 of file ERS220Info.h.
selects all of the leds Definition at line 241 of file ERS220Info.h.
Initial value:
BackLeft1LEDMask | BackLeft2LEDMask | BackLeft3LEDMask | BackRight1LEDMask | BackRight2LEDMask | BackRight3LEDMask LEDs on back. Definition at line 227 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 183 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 184 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 185 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 188 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 187 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 186 of file ERS220Info.h.
radius of the ball of the foot Definition at line 59 of file ERS220Info.h.
Use with kinematics to refer to base reference frame. Definition at line 99 of file ERS220Info.h.
The beginning of the binary joints. Definition at line 97 of file ERS220Info.h.
bottom left (red - sad) Definition at line 198 of file ERS220Info.h.
bottom right (red - sad) Definition at line 199 of file ERS220Info.h.
Initial value:
{ "LFrPaw","RFrPaw","LBkPaw","RBkPaw", "ChinBut","BackBut","HeadFrBut","HeadBkBut", "TailLeftBut","TailCenterBut","TailRightBut" } Provides a string name for each button. Definition at line 284 of file ERS220Info.h. Referenced by EmergencyStopMC::trigger().
Use with kinematics to refer to camera reference frame. Definition at line 102 of file ERS220Info.h.
use to open camera connection with the system Definition at line 444 of file ERS220Info.h. allocation declared in RobotInfo.cc Definition at line 20 of file RobotInfo.cc.
Definition at line 595 of file ERS220Info.h.
Definition at line 596 of file ERS220Info.h.
Definition at line 594 of file ERS220Info.h.
Definition at line 599 of file ERS220Info.h.
Definition at line 600 of file ERS220Info.h.
Definition at line 598 of file ERS220Info.h.
Definition at line 588 of file ERS220Info.h.
Definition at line 589 of file ERS220Info.h.
Definition at line 587 of file ERS220Info.h.
Definition at line 603 of file ERS220Info.h.
Definition at line 604 of file ERS220Info.h.
Definition at line 602 of file ERS220Info.h.
Definition at line 607 of file ERS220Info.h.
Definition at line 608 of file ERS220Info.h.
Definition at line 606 of file ERS220Info.h.
Definition at line 615 of file ERS220Info.h.
Definition at line 616 of file ERS220Info.h.
Definition at line 617 of file ERS220Info.h.
Definition at line 611 of file ERS220Info.h.
Definition at line 593 of file ERS220Info.h.
Definition at line 591 of file ERS220Info.h.
Definition at line 592 of file ERS220Info.h.
Definition at line 597 of file ERS220Info.h.
Definition at line 601 of file ERS220Info.h.
Definition at line 590 of file ERS220Info.h.
Definition at line 605 of file ERS220Info.h.
Definition at line 609 of file ERS220Info.h.
Definition at line 613 of file ERS220Info.h.
Definition at line 612 of file ERS220Info.h.
Definition at line 614 of file ERS220Info.h.
Definition at line 610 of file ERS220Info.h.
radius of the cylinder of the foot Definition at line 60 of file ERS220Info.h.
Initial value:
{ { 0x16/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x08/(float)(1<<(16-0xF)) }, { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x06/(float)(1<<(16-0xF)) }, { 0x23/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x05/(float)(1<<(16-0xF)) }, { 0x16/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x08/(float)(1<<(16-0xF)) }, { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x06/(float)(1<<(16-0xF)) }, { 0x23/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x05/(float)(1<<(16-0xF)) }, { 0x16/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x08/(float)(1<<(16-0xF)) }, { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x06/(float)(1<<(16-0xF)) }, { 0x23/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x05/(float)(1<<(16-0xF)) }, { 0x16/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x08/(float)(1<<(16-0xF)) }, { 0x14/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x06/(float)(1<<(16-0xF)) }, { 0x23/(float)(1<<(16-0xE)), 0x04/(float)(1<<(16-0x2)), 0x05/(float)(1<<(16-0xF)) }, { 0x0A/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x0C/(float)(1<<(16-0xF)) }, { 0x0D/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x0B/(float)(1<<(16-0xF)) }, { 0x0A/(float)(1<<(16-0xE)), 0x08/(float)(1<<(16-0x2)), 0x0C/(float)(1<<(16-0xF)) } } This table holds the default PID values for each joint. see PIDMC. Definition at line 472 of file ERS220Info.h.
These will control the shift values given to the system. see PIDMC. Definition at line 498 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 180 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 181 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 178 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 179 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 193 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 192 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 194 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 176 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 177 of file ERS220Info.h.
Initial value:
FaceFrontLeftLEDMask | FaceFrontRightLEDMask | FaceCenterLeftLEDMask | FaceCenterRightLEDMask | FaceBackLeftLEDMask | FaceBackRightLEDMask | FaceFrontALEDMask | FaceFrontBLEDMask | FaceFrontCLEDMask | ModeLEDMask LEDs for face. Definition at line 210 of file ERS220Info.h.
Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw). Definition at line 100 of file ERS220Info.h.
time between frames in the motion system (milliseconds) Definition at line 26 of file ERS220Info.h. LEDs on head (face plus retractable light). Definition at line 223 of file ERS220Info.h.
the offset of the beginning of the head joints Definition at line 93 of file ERS220Info.h.
Use with kinematics to refer to infrared (distance) sensor reference frame. Definition at line 103 of file ERS220Info.h.
Initial value:
{ true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, } true for joints which can be updated every 32 ms (true for all) Definition at line 63 of file ERS220Info.h.
no arms, just legs Definition at line 37 of file ERS220Info.h.
The number of joints per leg. Definition at line 41 of file ERS220Info.h.
the offset of LEDs in WorldState::outputs and MotionCommand functions Definition at line 95 of file ERS220Info.h.
the offset of the beginning of the leg joints Definition at line 92 of file ERS220Info.h.
Initial value:
{ 2.8143434f, 2.4980025f, 2.8361600f, 2.8143434f, 2.4980025f, 2.8361600f, 2.8143434f, 2.4980025f, 2.8361600f, 2.8143434f, 2.4980025f, 2.8361600f, 2.1053034f, 3.0106930f, 3.0106930f, 0,0,0, 0,0,0, 0, 0,0,0, 0,0,0, 0,0,0, 0,0,0, 0 } These values are Sony's recommended maximum joint velocities, in rad/sec. 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 is (as of v1.6) the only included MotionCommand to actually use these values. Definition at line 505 of file ERS220Info.h.
Initial value:
{ { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, { RAD(-91.5f),RAD(46) },{ RAD(-92.6f),RAD(92.6f) },{ RAD(-32),RAD(32) }, {0,1},{0,1},{0,1}, {0,1},{0,1},{0,1}, {0,1}, {0,1},{0,1},{0,1}, {0,1},{0,1},{0,1}, {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. Definition at line 561 of file ERS220Info.h.
middle left (green - happy) Definition at line 200 of file ERS220Info.h.
middle right (green - happy) Definition at line 201 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 182 of file ERS220Info.h.
no wheels, just legs Definition at line 39 of file ERS220Info.h.
no arms, just legs Definition at line 38 of file ERS220Info.h.
The number of binary joints - just the ears (which the 220 doesn't have) (Aperios only). Definition at line 53 of file ERS220Info.h.
the number of buttons that are available, see ERS220Info::ButtonOffset_t Definition at line 48 of file ERS220Info.h.
The number of joints which control the ears (NOT per ear, is total). Definition at line 47 of file ERS220Info.h.
the number of frames per buffer (don't forget also double buffered) Definition at line 27 of file ERS220Info.h.
The number of joints in the neck. Definition at line 44 of file ERS220Info.h.
The number of LEDs which can be controlled. Definition at line 50 of file ERS220Info.h.
the TOTAL number of joints on ALL legs Definition at line 43 of file ERS220Info.h.
The number of legs. Definition at line 42 of file ERS220Info.h.
the number of joints that control the mouth Definition at line 46 of file ERS220Info.h.
the total number of outputs Definition at line 54 of file ERS220Info.h.
The number of joints which use PID motion - everything. Definition at line 52 of file ERS220Info.h.
for the base, paw, camera, and IR sensor reference frames Definition at line 55 of file ERS220Info.h.
1 dist, 3 accel, 1 thermo, 5 from power, see ERS220Info::SensorOffset_t Definition at line 49 of file ERS220Info.h.
the number of frames per buffer being sent to ears (double buffered as well) Definition at line 29 of file ERS220Info.h.
The number of joints assigned to the tail. Definition at line 45 of file ERS220Info.h.
no wheels, just legs Definition at line 35 of file ERS220Info.h.
Names for each of the outputs. Definition at line 317 of file ERS220Info.h. Referenced by EmergencyStopMC::EmergencyStopMC(), EmergencyStopMC::freezeJoints(), and BatteryMonitorBehavior::setFlipper().
Initial value:
{ { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, { RAD(-88.5f),RAD(43) },{ RAD(-89.6f),RAD(89.6f) },{ RAD(-29),RAD(29) }, {0,1},{0,1},{0,1}, {0,1},{0,1},{0,1}, {0,1}, {0,1},{0,1},{0,1}, {0,1},{0,1},{0,1}, {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. Definition at line 541 of file ERS220Info.h.
Aibo-era alias for FootFrameOffset. Definition at line 101 of file ERS220Info.h.
The beginning of the PID Joints. Definition at line 91 of file ERS220Info.h.
Initial value:
{ "PRM:/r2/c1-Joint2:j1", "PRM:/r2/c1/c2-Joint2:j2", "PRM:/r2/c1/c2/c3-Joint2:j3", "PRM:/r4/c1-Joint2:j1", "PRM:/r4/c1/c2-Joint2:j2", "PRM:/r4/c1/c2/c3-Joint2:j3", "PRM:/r3/c1-Joint2:j1", "PRM:/r3/c1/c2-Joint2:j2", "PRM:/r3/c1/c2/c3-Joint2:j3", "PRM:/r5/c1-Joint2:j1", "PRM:/r5/c1/c2-Joint2:j2", "PRM:/r5/c1/c2/c3-Joint2:j3", "PRM:/r1/c1-Joint2:j1", "PRM:/r1/c1/c2-Joint2:j2", "PRM:/r1/c1/c2/c3-Joint2:j3", "PRM:/r1/c1/c2/c3/l1-LED2:l1", "PRM:/r1/c1/c2/c3/l4-LED2:l4", "PRM:/r1/c1/c2/c3/l2-LED2:l2", "PRM:/r1/c1/c2/c3/l5-LED2:l5", "PRM:/r1/c1/c2/c3/l3-LED2:l3", "PRM:/r1/c1/c2/c3/l6-LED2:l6", "PRM:/r1/c1/c2/c3/l7-LED2:l7", "PRM:/r6/l1-LED2:l1", "PRM:/r6/l2-LED2:l2", "PRM:/r6/l3-LED2:l3", "PRM:/r6/l4-LED2:l4", "PRM:/r6/l5-LED2:l5", "PRM:/r6/l6-LED2:l6", "PRM:/r6/l9-LED2:l9", "PRM:/r6/l7-LED2:l7", "PRM:/r6/l8-LED2:l8", "PRM:/r1/c1/c2/c3/l8-LED2:l8", "PRM:/r1/c1/c2/c3/l9-LED2:l9", "PRM:/r1/c1/c2/c3/la-LED2:la", "PRM:/r1/c1/c2/c3/lb-LED2:lb", } the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
The offset consts defined in this file correspond to this table and will make life easier if you feel the need to reorder things, but they aren't used perfect everywhere
Definition at line 396 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 195 of file ERS220Info.h.
Initial value:
{ "IRDist", "BAccel","LAccel","DAccel", "Thermo", "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent" } Provides a string name for each sensor. Definition at line 306 of file ERS220Info.h.
time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds) Definition at line 28 of file ERS220Info.h.
the number of milliseconds per sound buffer... I'm not sure if this can be changed Definition at line 30 of file ERS220Info.h.
use to open speaker connectio with the system Definition at line 441 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 190 of file ERS220Info.h.
Initial value:
LEDs for tail. Definition at line 236 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 189 of file ERS220Info.h.
So you can be clear when you're refering to a LED bitmask. Definition at line 191 of file ERS220Info.h.
the name of the model, to be used for logging and remote GUIs Definition at line 19 of file RobotInfo.cc. Referenced by RobotInfo::detectModel(), LedEngine::displayNumber(), EmergencyStopMC::EmergencyStopMC(), EmergencyStopMC::freezeJoints(), Controller::init(), BatteryMonitorBehavior::setFlipper(), FlashIPAddrBehavior::setupSequence(), and EmergencyStopMC::trigger().
blue tail light Definition at line 206 of file ERS220Info.h.
red tail light Definition at line 205 of file ERS220Info.h.
top bar (green) Definition at line 204 of file ERS220Info.h.
top left (red - angry) Definition at line 202 of file ERS220Info.h.
top right (red - angry) Definition at line 203 of file ERS220Info.h. |
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