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This is a compatability mode, which allows dual-booting of the same memory stick on both models without needing to recompile, at the expense of (a little) runtime speed.
LED Bitmasks | |
Bitmasks for use when specifying combinations of LEDs (see LEDEngine ) Note that L/R are robot's POV | |
typedef unsigned int | LEDBitMask_t |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset) |
So you can be clear when you're refering to a LED bitmask. | |
const LEDBitMask_t | TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset) |
red tail light | |
const LEDBitMask_t | TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset) |
blue tail light | |
const LEDBitMask_t | BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset) |
bottom left (red - sad) | |
const LEDBitMask_t | BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset) |
bottom right (red - sad) | |
const LEDBitMask_t | MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset) |
middle left (green - happy) | |
const LEDBitMask_t | MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset) |
middle right (green - happy) | |
const LEDBitMask_t | TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset) |
top left (red - angry) | |
const LEDBitMask_t | TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset) |
top right (red - angry) | |
const LEDBitMask_t | TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset) |
top bar (green) | |
const LEDBitMask_t | FaceLEDMask |
LEDs for face. | |
const LEDBitMask_t | HeadLEDMask |
LEDs on head (face plus retractable light). | |
const LEDBitMask_t | BackLEDMask |
LEDs on back. | |
const LEDBitMask_t | TailLEDMask |
LEDs for tail. | |
const LEDBitMask_t | AllLEDMask = ~0 |
selects all of the leds | |
Input Offsets | |
The order in which inputs should be stored | |
enum | ButtonOffset_t { LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder, ChinButOffset = 4, BackButOffset, HeadFrButOffset, HeadBkButOffset, TailLeftButOffset, TailCenterButOffset, TailRightButOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
enum | SensorOffset_t { IRDistOffset = 0, BAccelOffset, LAccelOffset, DAccelOffset, ThermoOffset, PowerRemainOffset, PowerThermoOffset, PowerCapacityOffset, PowerVoltageOffset, PowerCurrentOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
Output Types Information | |
const unsigned | NumPIDJoints = 18 |
The number of joints which use PID motion - everything. | |
const unsigned | NumLEDs = 22 |
The number LEDs which can be controlled. | |
const unsigned | NumBinJoints = 2 |
The number of binary joints (210 has ears). | |
const unsigned | NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs |
the total number of outputs | |
const bool | IsFastOutput [NumOutputs] |
true for joints which can be updated every 32 ms (all but the ears on a 210) | |
const bool | IsRealERS210 [NumOutputs] |
true for joints which can be updated every 32 ms (all but the ears on a 210) | |
const bool | IsRealERS220 [NumOutputs] |
true for joints which can be updated every 32 ms (all but the ears on a 210) | |
const unsigned | JointsPerLeg = 3 |
The number of joints per leg. | |
const unsigned | NumLegs = 4 |
The number of legs. | |
const unsigned | NumLegJoints = JointsPerLeg*NumLegs |
the TOTAL number of joints on ALL legs | |
const unsigned | NumHeadJoints = 3 |
The number of joints in the neck. | |
const unsigned | NumTailJoints = 2 |
The number of joints assigned to the tail. | |
const unsigned | NumMouthJoints = 1 |
the number of joints that control the mouth | |
const unsigned | NumEarJoints = 2 |
The number of joints which control the ears (NOT per ear, is total). | |
const unsigned | NumButtons = 11 |
the number of buttons that are available, see ButtonOffset_t | |
const unsigned | NumSensors = 1+3+1+5 |
1 dist, 3 accel, 1 thermo, 5 from power, see SensorOffset_t | |
Output Offsets | |
Corresponds to entries in PrimitiveName, defined at the end of this file | |
const unsigned | PIDJointOffset = 0 |
The beginning of the PID Joints. | |
const unsigned | LegOffset = PIDJointOffset |
the offset of the beginning of the leg joints | |
const unsigned | HeadOffset = LegOffset+NumLegJoints |
the offset of the beginning of the head joints | |
const unsigned | TailOffset = HeadOffset+NumHeadJoints |
the offset of the beginning of the tail joints | |
const unsigned | MouthOffset = TailOffset+NumTailJoints |
the offset of the beginning of the mouth joint | |
const unsigned | LEDOffset = PIDJointOffset + NumPIDJoints |
the offset of LEDs in WorldState::outputs and MotionCommand functions | |
const unsigned | BinJointOffset = LEDOffset+NumLEDs |
The beginning of the binary joints. | |
const unsigned | EarOffset = BinJointOffset |
the offset of the beginning of the ear joints - note that ears aren't sensed. They can be flicked by the environment and you won't know. Nor will they be flicked back | |
Enumerations | |
enum | LegOrder_t { LFrLegOrder = 0, RFrLegOrder, LBkLegOrder, RBkLegOrder } |
the ordering of legs More... | |
enum | LegOffset_t { LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg } |
The offsets of the individual legs. More... | |
enum | REKOffset_t { RotatorOffset = 0, ElevatorOffset, KneeOffset } |
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). More... | |
enum | TPROffset_t { TiltOffset = 0, PanOffset, RollOffset } |
The offsets of appendages with tilt (elevation), pan (heading), and roll 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). More... | |
enum | LEDOffset_t { FaceFrontLeftLEDOffset = LEDOffset, FaceFrontRightLEDOffset, FaceCenterLeftLEDOffset, FaceCenterRightLEDOffset, FaceBackLeftLEDOffset, FaceBackRightLEDOffset, ModeLEDOffset, BackLeft1LEDOffset, BackLeft2LEDOffset, BackLeft3LEDOffset, BackRight3LEDOffset, BackRight2LEDOffset, BackRight1LEDOffset, TailLeftLEDOffset, TailCenterLEDOffset, TailRightLEDOffset, FaceFrontBLEDOffset, FaceFrontALEDOffset, FaceFrontCLEDOffset, RetractableHeadLEDOffset, TlBluLEDOffset, TlRedLEDOffset, BotLLEDOffset = FaceFrontLeftLEDOffset, BotRLEDOffset = FaceFrontRightLEDOffset, MidLLEDOffset = FaceCenterLeftLEDOffset, MidRLEDOffset = FaceCenterRightLEDOffset, TopLLEDOffset = FaceBackLeftLEDOffset, TopRLEDOffset = FaceBackRightLEDOffset, TopBrLEDOffset = ModeLEDOffset } |
The offsets of the individual LEDs on the head and tail. Note that L/R are robot's POV. See also LEDBitMask_t. More... | |
enum | MinMaxRange_t { MinRange, MaxRange } |
Defines the min and max index of entries in #outputRanges and #mechanicalLimits. More... | |
Variables | |
const unsigned int | FrameTime = 8 |
time between frames in the motion system (milliseconds) | |
const unsigned int | NumFrames = 4 |
the number of frames per buffer (don't forget also double buffered) | |
const unsigned int | SlowFrameTime = 128 |
time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds) | |
const unsigned int | NumSlowFrames = 1 |
the number of frames per buffer being sent to ears (double buffered as well) | |
const unsigned int | SoundBufferTime = 32 |
the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
const unsigned | outputNameLen = 9 |
The length of the strings used for each of the outputs in outputNames (doesn't include null term). | |
const char *const | outputNames [NumOutputs] |
A name of uniform length for referring to joints - handy for posture files, etc. | |
const char *const | PrimitiveName [NumOutputs] |
the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others) | |
const float | DefaultPIDs [NumPIDJoints][3] |
This table holds the default PID values for each joint.
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const float | MaxOutputSpeed [NumOutputs] |
These values are Sony's recommended maximum joint velocities, in rad/ms. | |
const double | outputRanges [NumOutputs][2] |
This table holds the software limits of each of the outputs. | |
const double | mechanicalLimits [NumOutputs][2] |
This table holds the mechanical limits of each of the outputs. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 209 of file ERS2xxInfo.h. |
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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 PowerSourceID::PauseSID.
Definition at line 295 of file ERS2xxInfo.h. |
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The offsets of the individual LEDs on the head and tail. Note that L/R are robot's POV. See also LEDBitMask_t.
Definition at line 172 of file ERS2xxInfo.h. |
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The offsets of the individual legs.
Definition at line 150 of file ERS2xxInfo.h. |
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the ordering of legs
Definition at line 142 of file ERS2xxInfo.h. |
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Defines the min and max index of entries in outputRanges and mechanicalLimits.
Definition at line 545 of file ERS2xxInfo.h. |
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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 158 of file ERS2xxInfo.h. |
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holds offset to different sensor values in WorldState::sensors[]
Definition at line 311 of file ERS2xxInfo.h. |
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The offsets of appendages with tilt (elevation), pan (heading), and roll 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 165 of file ERS2xxInfo.h. |
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selects all of the leds
Definition at line 274 of file ERS2xxInfo.h. |
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Initial value: BackLeft1LEDMask | BackLeft2LEDMask | BackLeft3LEDMask | BackRight1LEDMask | BackRight2LEDMask | BackRight3LEDMask
Definition at line 260 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 217 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 218 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 219 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 222 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 221 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 220 of file ERS2xxInfo.h. |
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The beginning of the binary joints.
Definition at line 137 of file ERS2xxInfo.h. |
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bottom left (red - sad)
Definition at line 235 of file ERS2xxInfo.h. |
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bottom right (red - sad)
Definition at line 236 of file ERS2xxInfo.h. |
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Initial value: { { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) }, { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) }, { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) }, { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) }, { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) }, { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) }, { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) }, { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) }, { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) }, { 0x0D/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0B/(double)(1<<(16-0xF)) }, { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) }, { 0x0A/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x18/(double)(1<<(16-0xF)) }, { 0x07/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x11/(double)(1<<(16-0xF)) }, { 0x0E/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x10/(double)(1<<(16-0xF)) } }
Definition at line 474 of file ERS2xxInfo.h. |
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the offset of the beginning of the ear joints - note that ears aren't sensed. They can be flicked by the environment and you won't know. Nor will they be flicked back
Definition at line 138 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 214 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 215 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 212 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 213 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 227 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 226 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 228 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 210 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 211 of file ERS2xxInfo.h. |
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Initial value: FaceFrontLeftLEDMask | FaceFrontRightLEDMask | FaceCenterLeftLEDMask | FaceCenterRightLEDMask | FaceBackLeftLEDMask | FaceBackRightLEDMask | FaceFrontALEDMask | FaceFrontBLEDMask | FaceFrontCLEDMask | ModeLEDMask
Definition at line 244 of file ERS2xxInfo.h. |
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time between frames in the motion system (milliseconds)
Definition at line 26 of file ERS2xxInfo.h. |
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Initial value: LEDs on head (face plus retractable light).
Definition at line 256 of file ERS2xxInfo.h. |
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the offset of the beginning of the head joints
Definition at line 131 of file ERS2xxInfo.h. |
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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, true, true, true, true, false, false }
Definition at line 40 of file ERS2xxInfo.h. |
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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, false, false, false, false, false, false, false, false, false, false, false, false, false, true, true, true, true }
Definition at line 64 of file ERS2xxInfo.h. |
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Initial value: { true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, false }
Definition at line 88 of file ERS2xxInfo.h. |
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The number of joints per leg.
Definition at line 111 of file ERS2xxInfo.h. |
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the offset of LEDs in WorldState::outputs and MotionCommand functions
Definition at line 135 of file ERS2xxInfo.h. |
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the offset of the beginning of the leg joints
Definition at line 130 of file ERS2xxInfo.h. |
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These values are Sony's recommended maximum joint velocities, in rad/ms. a value <= 0 means infinite speed (e.g. LEDs) Definition at line 501 of file ERS2xxInfo.h. |
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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(-85),RAD(46) },{ RAD(-92.6),RAD(92.6) },{ RAD(-32),RAD(32) }, { RAD(-25),RAD(25) },{ RAD(-25),RAD(25) }, { RAD(-50),RAD(0) }, {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}, {0,1},{0,1}, {0,1},{0,1} }
Definition at line 575 of file ERS2xxInfo.h. |
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middle left (green - happy)
Definition at line 237 of file ERS2xxInfo.h. |
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middle right (green - happy)
Definition at line 238 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 216 of file ERS2xxInfo.h. |
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the offset of the beginning of the mouth joint
Definition at line 133 of file ERS2xxInfo.h. |
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The number of binary joints (210 has ears).
Definition at line 37 of file ERS2xxInfo.h. |
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the number of buttons that are available, see ButtonOffset_t
Definition at line 118 of file ERS2xxInfo.h. |
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The number of joints which control the ears (NOT per ear, is total).
Definition at line 117 of file ERS2xxInfo.h. |
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the number of frames per buffer (don't forget also double buffered)
Definition at line 27 of file ERS2xxInfo.h. |
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The number of joints in the neck.
Definition at line 114 of file ERS2xxInfo.h. |
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The number LEDs which can be controlled.
Definition at line 36 of file ERS2xxInfo.h. |
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the TOTAL number of joints on ALL legs
Definition at line 113 of file ERS2xxInfo.h. |
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The number of legs.
Definition at line 112 of file ERS2xxInfo.h. |
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the number of joints that control the mouth
Definition at line 116 of file ERS2xxInfo.h. |
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the total number of outputs
Definition at line 38 of file ERS2xxInfo.h. |
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The number of joints which use PID motion - everything. Right now all binary joints are slow, but perhaps this won't always be the case... hence the IsFast/Slow bitmasks to select which type, in order to be more general Definition at line 35 of file ERS2xxInfo.h. |
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1 dist, 3 accel, 1 thermo, 5 from power, see SensorOffset_t
Definition at line 119 of file ERS2xxInfo.h. |
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the number of frames per buffer being sent to ears (double buffered as well)
Definition at line 29 of file ERS2xxInfo.h. |
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The number of joints assigned to the tail.
Definition at line 115 of file ERS2xxInfo.h. |
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The length of the strings used for each of the outputs in outputNames (doesn't include null term).
Definition at line 328 of file ERS2xxInfo.h. |
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A name of uniform length for referring to joints - handy for posture files, etc.
Definition at line 330 of file ERS2xxInfo.h. |
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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(-82),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) }, { RAD(-22),RAD(22) },{ RAD(-22),RAD(22) }, { RAD(-47),RAD(-3) }, {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}, {0,1},{0,1}, {0,1},{0,1} }
Definition at line 548 of file ERS2xxInfo.h. |
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The beginning of the PID Joints.
Definition at line 129 of file ERS2xxInfo.h. |
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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:/r6/c2-Joint2:j2", "PRM:/r6/c1-Joint2:j1", "PRM:/r1/c1/c2/c3/c4-Joint2:j4", "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", "PRM:/r6/l2-LED2:l2", "PRM:/r6/l1-LED2:l1", "PRM:/r1/c1/c2/c3/e1-Joint3:j5", "PRM:/r1/c1/c2/c3/e2-Joint3:j6" }
In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs There may be other assumptions not noted here!!!
Definition at line 393 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 229 of file ERS2xxInfo.h. |
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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 ERS2xxInfo.h. |
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the number of milliseconds per sound buffer... I'm not sure if this can be changed
Definition at line 30 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 224 of file ERS2xxInfo.h. |
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Initial value: LEDs for tail.
Definition at line 268 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 223 of file ERS2xxInfo.h. |
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the offset of the beginning of the tail joints
Definition at line 132 of file ERS2xxInfo.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 225 of file ERS2xxInfo.h. |
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blue tail light
Definition at line 232 of file ERS2xxInfo.h. |
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red tail light
Definition at line 231 of file ERS2xxInfo.h. |
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top bar (green)
Definition at line 241 of file ERS2xxInfo.h. |
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top left (red - angry)
Definition at line 239 of file ERS2xxInfo.h. |
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top right (red - angry)
Definition at line 240 of file ERS2xxInfo.h. |
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