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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 | 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 | TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset) |
red tail light | |
const LEDBitMask_t | TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset) |
blue tail light | |
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 = 15 |
The number of joints which use PID motion - everything. | |
const unsigned | NumLEDs = 20 |
The number LEDs which can be controlled. | |
const unsigned | NumBinJoints = 0 |
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 | 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 = 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, 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 | LEDOffset = PIDJointOffset + NumPIDJoints |
the offset of LEDs in WorldState::outputs and MotionCommand functions | |
const unsigned | BinJointOffset = NumOutputs |
The beginning of the binary joints. | |
CPC IDs | |
values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ::PrimitiveName | |
const int | CPCJointNeckTilt = 0 |
const int | CPCJointNeckPan = 1 |
const int | CPCJointNeckRoll = 2 |
const int | CPCSensorPSD = 3 |
const int | CPCSensorHeadBackPressure = 4 |
const int | CPCSensorHeadFrontPressure = 5 |
const int | CPCSensorChinSwitch = 6 |
const int | CPCJointLFRotator = 7 |
const int | CPCJointLFElevator = 8 |
const int | CPCJointLFKnee = 9 |
const int | CPCSensorLFPaw = 10 |
const int | CPCJointLHRotator = 11 |
const int | CPCJointLHElevator = 12 |
const int | CPCJointLHKnee = 13 |
const int | CPCSensorLHPaw = 14 |
const int | CPCJointRFRotator = 15 |
const int | CPCJointRFElevator = 16 |
const int | CPCJointRFKnee = 17 |
const int | CPCSensorRFPaw = 18 |
const int | CPCJointRHRotator = 19 |
const int | CPCJointRHElevator = 20 |
const int | CPCJointRHKnee = 21 |
const int | CPCSensorRHPaw = 22 |
const int | CPCSensorThermoSensor = 23 |
const int | CPCSensorBackSwitch = 24 |
const int | CPCSensorTailLeftSwitch = 25 |
const int | CPCSensorTailCenterSwitch = 26 |
const int | CPCSensorTailRightSwitch = 27 |
const int | CPCSensorAccelFB = 28 |
const int | CPCSensorAccelLR = 29 |
const int | CPCSensorAccelUD = 30 |
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, BotLLEDOffset = FaceFrontLeftLEDOffset, BotRLEDOffset = FaceFrontRightLEDOffset, MidLLEDOffset = FaceCenterLeftLEDOffset, MidRLEDOffset = FaceCenterRightLEDOffset, TopLLEDOffset = FaceBackLeftLEDOffset, TopRLEDOffset = FaceBackRightLEDOffset, TopBrLEDOffset = ModeLEDOffset, TlBluLEDOffset = TailLeftLEDOffset, TlRedLEDOffset = TailRightLEDOffset } |
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 177 of file ERS220Info.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 260 of file ERS220Info.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 141 of file ERS220Info.h. |
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The offsets of the individual legs.
Definition at line 119 of file ERS220Info.h. |
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the ordering of legs
Definition at line 111 of file ERS220Info.h. |
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Defines the min and max index of entries in outputRanges and mechanicalLimits.
Definition at line 480 of file ERS220Info.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 127 of file ERS220Info.h. |
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holds offset to different sensor values in WorldState::sensors[]
Definition at line 276 of file ERS220Info.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 134 of file ERS220Info.h. |
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selects all of the leds
Definition at line 239 of file ERS220Info.h. |
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Initial value: BackLeft1LEDMask | BackLeft2LEDMask | BackLeft3LEDMask | BackRight1LEDMask | BackRight2LEDMask | BackRight3LEDMask
Definition at line 227 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 185 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 186 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 187 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 190 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 189 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 188 of file ERS220Info.h. |
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The beginning of the binary joints.
Definition at line 107 of file ERS220Info.h. |
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bottom left (red - sad)
Definition at line 200 of file ERS220Info.h. |
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bottom right (red - sad)
Definition at line 201 of file ERS220Info.h. |
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Definition at line 539 of file ERS220Info.h. |
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Definition at line 540 of file ERS220Info.h. |
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Definition at line 538 of file ERS220Info.h. |
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Definition at line 543 of file ERS220Info.h. |
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Definition at line 544 of file ERS220Info.h. |
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Definition at line 542 of file ERS220Info.h. |
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Definition at line 532 of file ERS220Info.h. |
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Definition at line 533 of file ERS220Info.h. |
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Definition at line 531 of file ERS220Info.h. |
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Definition at line 547 of file ERS220Info.h. |
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Definition at line 548 of file ERS220Info.h. |
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Definition at line 546 of file ERS220Info.h. |
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Definition at line 551 of file ERS220Info.h. |
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Definition at line 552 of file ERS220Info.h. |
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Definition at line 550 of file ERS220Info.h. |
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Definition at line 559 of file ERS220Info.h. |
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Definition at line 560 of file ERS220Info.h. |
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Definition at line 561 of file ERS220Info.h. |
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Definition at line 555 of file ERS220Info.h. |
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Definition at line 537 of file ERS220Info.h. |
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Definition at line 535 of file ERS220Info.h. |
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Definition at line 536 of file ERS220Info.h. |
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Definition at line 541 of file ERS220Info.h. |
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Definition at line 545 of file ERS220Info.h. |
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Definition at line 534 of file ERS220Info.h. |
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Definition at line 549 of file ERS220Info.h. |
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Definition at line 553 of file ERS220Info.h. |
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Definition at line 557 of file ERS220Info.h. |
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Definition at line 556 of file ERS220Info.h. |
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Definition at line 558 of file ERS220Info.h. |
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Definition at line 554 of file ERS220Info.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)) } }
Definition at line 417 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 182 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 183 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 180 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 181 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 195 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 194 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 196 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 178 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 179 of file ERS220Info.h. |
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Initial value: FaceFrontLeftLEDMask | FaceFrontRightLEDMask | FaceCenterLeftLEDMask | FaceCenterRightLEDMask | FaceBackLeftLEDMask | FaceBackRightLEDMask | FaceFrontALEDMask | FaceFrontBLEDMask | FaceFrontCLEDMask | ModeLEDMask
Definition at line 211 of file ERS220Info.h. |
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time between frames in the motion system (milliseconds)
Definition at line 30 of file ERS220Info.h. |
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Initial value: LEDs on head (face plus retractable light).
Definition at line 223 of file ERS220Info.h. |
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the offset of the beginning of the head joints
Definition at line 103 of file ERS220Info.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, }
Definition at line 44 of file ERS220Info.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, }
Definition at line 64 of file ERS220Info.h. |
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The number of joints per leg.
Definition at line 83 of file ERS220Info.h. |
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the offset of LEDs in WorldState::outputs and MotionCommand functions
Definition at line 105 of file ERS220Info.h. |
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the offset of the beginning of the leg joints
Definition at line 102 of file ERS220Info.h. |
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Initial value: { 2.8143434e-03, 2.4980025e-03, 2.8361600e-03, 2.8143434e-03, 2.4980025e-03, 2.8361600e-03, 2.8143434e-03, 2.4980025e-03, 2.8361600e-03, 2.8143434e-03, 2.4980025e-03, 2.8361600e-03, 2.1053034e-03, 3.0106930e-03, 3.0106930e-03, 0,0,0, 0,0,0, 0, 0,0,0, 0,0,0, 0,0,0, 0,0,0, 0 } a value <= 0 means infinite speed (e.g. LEDs) Definition at line 444 of file ERS220Info.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) }, {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 503 of file ERS220Info.h. |
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middle left (green - happy)
Definition at line 202 of file ERS220Info.h. |
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middle right (green - happy)
Definition at line 203 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 184 of file ERS220Info.h. |
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The number of binary joints (210 has ears).
Definition at line 41 of file ERS220Info.h. |
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the number of buttons that are available, see ButtonOffset_t
Definition at line 90 of file ERS220Info.h. |
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The number of joints which control the ears (NOT per ear, is total).
Definition at line 89 of file ERS220Info.h. |
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the number of frames per buffer (don't forget also double buffered)
Definition at line 31 of file ERS220Info.h. |
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The number of joints in the neck.
Definition at line 86 of file ERS220Info.h. |
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The number LEDs which can be controlled.
Definition at line 40 of file ERS220Info.h. |
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the TOTAL number of joints on ALL legs
Definition at line 85 of file ERS220Info.h. |
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The number of legs.
Definition at line 84 of file ERS220Info.h. |
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the number of joints that control the mouth
Definition at line 88 of file ERS220Info.h. |
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the total number of outputs
Definition at line 42 of file ERS220Info.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 39 of file ERS220Info.h. |
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1 dist, 3 accel, 1 thermo, 5 from power, see SensorOffset_t
Definition at line 91 of file ERS220Info.h. |
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the number of frames per buffer being sent to ears (double buffered as well)
Definition at line 33 of file ERS220Info.h. |
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The number of joints assigned to the tail.
Definition at line 87 of file ERS220Info.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 293 of file ERS220Info.h. |
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A name of uniform length for referring to joints - handy for posture files, etc.
Definition at line 295 of file ERS220Info.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) }, {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 483 of file ERS220Info.h. |
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The beginning of the PID Joints.
Definition at line 101 of file ERS220Info.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:/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", }
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 347 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 197 of file ERS220Info.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 32 of file ERS220Info.h. |
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the number of milliseconds per sound buffer... I'm not sure if this can be changed
Definition at line 34 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 192 of file ERS220Info.h. |
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Initial value: LEDs for tail.
Definition at line 235 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 191 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 193 of file ERS220Info.h. |
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blue tail light
Definition at line 208 of file ERS220Info.h. |
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red tail light
Definition at line 207 of file ERS220Info.h. |
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top bar (green)
Definition at line 206 of file ERS220Info.h. |
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top left (red - angry)
Definition at line 204 of file ERS220Info.h. |
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top right (red - angry)
Definition at line 205 of file ERS220Info.h. |
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