WiiMoteInfo Namespace Reference

Contains information about the WiiMote remote control. More...

Enumerations
enum	InterfaceMode_t
Variables
const char *const	TargetName = "WiiMote"
	the name of the model, to be used for logging and remote GUIs
const Capabilities	capabilities (TargetName, NumReferenceFrames, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, LEDOffset, NumLEDs, NumOutputs)
	allocation declared in RobotInfo.cc
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 char *const	outputNames [NumReferenceFrames+1]
	Names for each of the outputs.
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 = 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 = 0
	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 = 0
	The number of joints per leg.
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, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
const unsigned	NumSensors = 3
	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 = NumWheels + NumLEDs
	the total number of outputs
const unsigned	NumReferenceFrames = NumOutputs + 1 + NumArms
	for the base, gripper (* NumArms)
const float	CameraHorizFOV = 0
	The number of joints per leg.
const float	CameraVertFOV = 0
	The number of joints per leg.
const float	CameraFOV = 0
	The number of joints per leg.
const unsigned int	CameraResolutionX = 0
	The number of joints per leg.
const unsigned int	CameraResolutionY = 0
	The number of joints per leg.
Output Offsets
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
enum	WheelOffset_t
	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. More...
enum	LEDOffset_t { LED0_Offset = LEDOffset, LED1_Offset, LED2_Offset, LED3_Offset }
	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. More...
typedef unsigned int	LEDBitMask_t
const unsigned	PIDJointOffset = 0
	The beginning of the PID Joints.
const unsigned	WheelOffset = PIDJointOffset
	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.
const unsigned	LEDOffset = WheelOffset+NumWheels
	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.
const unsigned	MODE_OFFSET = LEDOffset + NumLEDs
	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.
const unsigned	DEMO_OFFSET = MODE_OFFSET+1
	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.
const unsigned	BaseFrameOffset = NumOutputs
	Use with kinematics to refer to base reference frame.
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 { BUTTON_2, BUTTON_1, BUTTON_B, BUTTON_A, BUTTON_MINUS, BUTTON_HOME, BUTTON_LEFT, BUTTON_RIGHT, BUTTON_DOWN, BUTTON_UP, BUTTON_PLUS }
	holds offsets to different buttons in WorldState::buttons[] More...
enum	SensorOffset_t { X_OFFSET, Y_OFFSET, Z_OFFSET }
	holds offset to different sensor values in WorldState::sensors[] More...
enum	IRComm_t { IR_X, IR_Y }
	holds offsets to different buttons in WorldState::buttons[] More...
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 the WiiMote remote control.

Typedef Documentation

typedef unsigned int WiiMoteInfo::LEDBitMask_t

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

Definition at line 89 of file WiiMoteInfo.h.

Enumeration Type Documentation

enum WiiMoteInfo::ButtonOffset_t

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

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

BUTTON_2
BUTTON_1
BUTTON_B
BUTTON_A
BUTTON_MINUS
BUTTON_HOME
BUTTON_LEFT
BUTTON_RIGHT
BUTTON_DOWN
BUTTON_UP
BUTTON_PLUS

Definition at line 112 of file WiiMoteInfo.h.

enum WiiMoteInfo::InterfaceMode_t

Definition at line 96 of file WiiMoteInfo.h.

enum WiiMoteInfo::IRComm_t

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

Should be a straight mapping to the ButtonSourceIDs

See also:: WorldState::buttons

Enumerator:

IR_X
IR_Y

Definition at line 150 of file WiiMoteInfo.h.

enum WiiMoteInfo::LEDOffset_t

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.

Enumerator:

LED0_Offset
LED1_Offset
LED2_Offset
LED3_Offset

Definition at line 82 of file WiiMoteInfo.h.

enum WiiMoteInfo::SensorOffset_t

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

See also:: WorldState::sensors[]

Enumerator:

X_OFFSET
Y_OFFSET
Z_OFFSET

Definition at line 144 of file WiiMoteInfo.h.

enum WiiMoteInfo::WheelOffset_t

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 78 of file WiiMoteInfo.h.

Variable Documentation

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

selects all of the leds

Definition at line 93 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 76 of file WiiMoteInfo.h.

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

Initial value:

 
    { "button 2", 
      "button 1", 
      "button B", 
      "button A", 
      "button minus", 
      "button home", 
      "button left", 
      "button right", 
      "button down", 
      "button up", 
      "button pus", 
      NULL
    }

Provides a string name for each button.

Definition at line 127 of file WiiMoteInfo.h.

const float WiiMoteInfo::CameraFOV = 0

The number of joints per leg.

Definition at line 54 of file WiiMoteInfo.h.

const float WiiMoteInfo::CameraHorizFOV = 0

The number of joints per leg.

Definition at line 52 of file WiiMoteInfo.h.

const unsigned int WiiMoteInfo::CameraResolutionX = 0

The number of joints per leg.

Definition at line 55 of file WiiMoteInfo.h.

const unsigned int WiiMoteInfo::CameraResolutionY = 0

The number of joints per leg.

Definition at line 56 of file WiiMoteInfo.h.

const float WiiMoteInfo::CameraVertFOV = 0

The number of joints per leg.

Definition at line 53 of file WiiMoteInfo.h.

const Capabilities WiiMoteInfo::capabilities

allocation declared in RobotInfo.cc

Definition at line 181 of file WiiMoteInfo.h.

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

Initial value:

 {
    {0,0,0} 
  }

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

Definition at line 184 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::DEMO_OFFSET = MODE_OFFSET+1

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 74 of file WiiMoteInfo.h.

const LEDBitMask_t WiiMoteInfo::FaceLEDMask = 0

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

Definition at line 91 of file WiiMoteInfo.h.

const unsigned int WiiMoteInfo::FrameTime = 15

time between frames in the motion system (milliseconds)

Definition at line 24 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::JointsPerArm = 0

The number of joints per leg.

Definition at line 31 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::JointsPerLeg = 0

The number of joints per leg.

Definition at line 35 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::LEDOffset = WheelOffset+NumWheels

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 71 of file WiiMoteInfo.h.

const float WiiMoteInfo::MaxOutputSpeed[NumOutputs]

Initial value:

 {
    0, 0, 0, 0
  }

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

Definition at line 189 of file WiiMoteInfo.h.

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

Initial value:

    {
      { -1 , 1 },
      { -1 , 1 },
      { -1 , 1 },
      { -1 , 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 204 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::MODE_OFFSET = LEDOffset + NumLEDs

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 73 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumArmJoints = 0

The number of joints per leg.

Definition at line 33 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumArms = 0

The number of joints per leg.

Definition at line 32 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumButtons = 11

the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t

Definition at line 42 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumEarJoints = 0

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

Definition at line 41 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumFacePanelLEDs = 0

The number of face panel LEDs.

Definition at line 45 of file WiiMoteInfo.h.

const unsigned int WiiMoteInfo::NumFrames = 1

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

Definition at line 25 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumHeadJoints = 0

The number of joints in the neck.

Definition at line 38 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumLEDs = 4

The number of LEDs which can be controlled.

Definition at line 44 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumLegJoints = 0

The number of joints per leg.

Definition at line 37 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumLegs = 0

The number of legs.

Definition at line 36 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumMouthJoints = 0

the number of joints that control the mouth

Definition at line 40 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumOutputs = NumWheels + NumLEDs

the total number of outputs

Definition at line 48 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumPIDJoints = NumWheels

servo pins

Definition at line 47 of file WiiMoteInfo.h.

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

for the base, gripper (* NumArms)

Definition at line 49 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumSensors = 3

the number of sensors available

Definition at line 43 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumTailJoints = 0

The number of joints assigned to the tail.

Definition at line 39 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::NumWheels = 0

The number of joints per leg.

Definition at line 29 of file WiiMoteInfo.h.

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

Initial value:

 {
    "LED 0",
    "LED 1",
    "LED 2",
    "LED 3",
    "BaseFrame",
    NULL
  }

Names for each of the outputs.

Definition at line 171 of file WiiMoteInfo.h.

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

Initial value:

    {
      { -1 , 1 },
      { -1 , 1 },
      { -1 , 1 },
      { -1 , 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 194 of file WiiMoteInfo.h.

const unsigned WiiMoteInfo::PIDJointOffset = 0

The beginning of the PID Joints.

Definition at line 68 of file WiiMoteInfo.h.

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

Initial value:

 { 
    "x",
    "y",
    "z",
    NULL
  }

Provides a string name for each sensor.

Definition at line 160 of file WiiMoteInfo.h.

const unsigned int WiiMoteInfo::SoundBufferTime = 32

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

Definition at line 26 of file WiiMoteInfo.h.

const char *const WiiMoteInfo::TargetName = "WiiMote"

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

Definition at line 109 of file RobotInfo.cc.

const unsigned WiiMoteInfo::WheelOffset = PIDJointOffset

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 69 of file WiiMoteInfo.h.

WiiMoteInfo Namespace Reference

Enumerations

Variables

Output Offsets

Input Offsets

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Variable Documentation