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ERS2xxInfo Namespace Reference


Detailed Description

Contains information about the ERS-2xx series of robot, such as number of joints, PID defaults, timing information, etc.

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.
See also:
PIDMC.


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.


Typedef Documentation

typedef unsigned int ERS2xxInfo::LEDBitMask_t
 

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

Definition at line 209 of file ERS2xxInfo.h.


Enumeration Type Documentation

enum ERS2xxInfo::ButtonOffset_t
 

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.

See also:
WorldState::buttons

ButtonSourceID_t

Enumeration values:
LFrPawOffset 
RFrPawOffset 
LBkPawOffset 
RBkPawOffset 
ChinButOffset 
BackButOffset 
HeadFrButOffset 
See also:
ERS210Info::HeadFrButOffset, ERS220Info::HeadFrButOffset
HeadBkButOffset 
See also:
ERS210Info::HeadBkButOffset, ERS220Info::HeadBkButOffset
TailLeftButOffset 
TailCenterButOffset 
TailRightButOffset 

Definition at line 295 of file ERS2xxInfo.h.

enum ERS2xxInfo::LEDOffset_t
 

The offsets of the individual LEDs on the head and tail. Note that L/R are robot's POV. See also LEDBitMask_t.

Enumeration values:
FaceFrontLeftLEDOffset  head face side light (front left - blue) (ERS-220)
FaceFrontRightLEDOffset  head face side light (front right - blue) (ERS-220)
FaceCenterLeftLEDOffset  head face side light (center left - blue) (ERS-220)
FaceCenterRightLEDOffset  head face side light (center right - blue) (ERS-220)
FaceBackLeftLEDOffset  head face side light (back left - red) (ERS-220)
FaceBackRightLEDOffset  head face side light (back right - red) (ERS-220)
ModeLEDOffset  mode indicator (back of the head - orange) (ERS-220)
BackLeft1LEDOffset  back multi-indicator (left #1 - blue) (ERS-220)
BackLeft2LEDOffset  back multi-indicator (left #2 - blue) (ERS-220)
BackLeft3LEDOffset  back multi-indicator (left #3 - blue) (ERS-220)
BackRight3LEDOffset  back multi-indicator (right #3 - blue) (ERS-220)
BackRight2LEDOffset  back multi-indicator (right #2 - blue) (ERS-220)
BackRight1LEDOffset  back multi-indicator (right #1 - blue) (ERS-220)
TailLeftLEDOffset  tail light (left - blue) (ERS-220)
TailCenterLEDOffset  tail light (center - red) (ERS-220)
TailRightLEDOffset  tail light (right - blue) (ERS-220)
FaceFrontBLEDOffset  face front light B (blue) (ERS-220)
FaceFrontALEDOffset  face front light A (blue) (ERS-220)
FaceFrontCLEDOffset  face front light C (red) (ERS-220)
RetractableHeadLEDOffset  retractable head light (ERS-220)
TlBluLEDOffset  blue tail light (ERS-210)
TlRedLEDOffset  red tail light (ERS-210)
BotLLEDOffset  bottom left (red - sad) (ERS-210)
BotRLEDOffset  bottom right (red - sad) (ERS-210)
MidLLEDOffset  middle left (green - happy) (ERS-210)
MidRLEDOffset  middle right (green - happy) (ERS-210)
TopLLEDOffset  top left (red - angry) (ERS-210)
TopRLEDOffset  top right (red - angry) (ERS-210)
TopBrLEDOffset  top bar (green) (ERS-210)

Definition at line 172 of file ERS2xxInfo.h.

enum ERS2xxInfo::LegOffset_t
 

The offsets of the individual legs.

Enumeration values:
LFrLegOffset  beginning of left front leg
RFrLegOffset  beginning of right front leg
LBkLegOffset  beginning of left back leg
RBkLegOffset  beginning of right back leg

Definition at line 150 of file ERS2xxInfo.h.

enum ERS2xxInfo::LegOrder_t
 

the ordering of legs

Enumeration values:
LFrLegOrder  left front leg
RFrLegOrder  right front leg
LBkLegOrder  left back leg
RBkLegOrder  right back leg

Definition at line 142 of file ERS2xxInfo.h.

enum ERS2xxInfo::MinMaxRange_t
 

Defines the min and max index of entries in outputRanges and mechanicalLimits.

Enumeration values:
MinRange 
MaxRange 

Definition at line 545 of file ERS2xxInfo.h.

enum ERS2xxInfo::REKOffset_t
 

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).

Enumeration values:
RotatorOffset  moves leg forward or backward along body
ElevatorOffset  moves leg toward or away from body
KneeOffset  moves knee

Definition at line 158 of file ERS2xxInfo.h.

enum ERS2xxInfo::SensorOffset_t
 

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

See also:
WorldState::sensors[]
Enumeration values:
IRDistOffset  in millimeters
BAccelOffset  backward acceleration, in $m/s^2$, negative if sitting on butt (positive for faceplant)
LAccelOffset  acceleration to the robot's left, in $m/s^2$, negative if lying on robot's left side
DAccelOffset  downward acceleration, in $m/s^2$, negative if standing up... be careful about the signs on all of these...
ThermoOffset  in degrees Celcius
PowerRemainOffset  percentage, 0-1
PowerThermoOffset  degrees Celcius
PowerCapacityOffset  milli-amp hours
PowerVoltageOffset  volts
PowerCurrentOffset  milli-amp negative values (maybe positive while charging?)

Definition at line 311 of file ERS2xxInfo.h.

enum ERS2xxInfo::TPROffset_t
 

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).

Enumeration values:
TiltOffset  tilt/elevation (vertical)
PanOffset  pan/heading (horizontal)
RollOffset  roll (rotational)

Definition at line 165 of file ERS2xxInfo.h.


Variable Documentation

const LEDBitMask_t ERS2xxInfo::AllLEDMask = ~0
 

selects all of the leds

Definition at line 274 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackLEDMask
 

Initial value:

LEDs on back.

Definition at line 260 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset)
 

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

Definition at line 217 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset)
 

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

Definition at line 218 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset)
 

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

Definition at line 219 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset)
 

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

Definition at line 222 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset)
 

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

Definition at line 221 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset)
 

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

Definition at line 220 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::BinJointOffset = LEDOffset+NumLEDs
 

The beginning of the binary joints.

Definition at line 137 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)
 

bottom left (red - sad)

Definition at line 235 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)
 

bottom right (red - sad)

Definition at line 236 of file ERS2xxInfo.h.

const float ERS2xxInfo::DefaultPIDs[NumPIDJoints][3]
 

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)) }
    }
This table holds the default PID values for each joint.
See also:
PIDMC.

Definition at line 474 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::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

Definition at line 138 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset)
 

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

Definition at line 214 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset)
 

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

Definition at line 215 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset)
 

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

Definition at line 212 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset)
 

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

Definition at line 213 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset)
 

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

Definition at line 227 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset)
 

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

Definition at line 226 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset)
 

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

Definition at line 228 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset)
 

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

Definition at line 210 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset)
 

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

Definition at line 211 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::FaceLEDMask
 

Initial value:

LEDs for face.

Definition at line 244 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::FrameTime = 8
 

time between frames in the motion system (milliseconds)

Definition at line 26 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::HeadLEDMask
 

Initial value:

LEDs on head (face plus retractable light).

Definition at line 256 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::HeadOffset = LegOffset+NumLegJoints
 

the offset of the beginning of the head joints

Definition at line 131 of file ERS2xxInfo.h.

const bool ERS2xxInfo::IsFastOutput[NumOutputs]
 

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
  }
true for joints which can be updated every 32 ms (all but the ears on a 210)

Definition at line 40 of file ERS2xxInfo.h.

const bool ERS2xxInfo::IsRealERS210[NumOutputs]
 

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
  }
true for joints which can be updated every 32 ms (all but the ears on a 210)

Definition at line 64 of file ERS2xxInfo.h.

const bool ERS2xxInfo::IsRealERS220[NumOutputs]
 

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
  }
true for joints which can be updated every 32 ms (all but the ears on a 210)

Definition at line 88 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::JointsPerLeg = 3
 

The number of joints per leg.

Definition at line 111 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::LEDOffset = PIDJointOffset + NumPIDJoints
 

the offset of LEDs in WorldState::outputs and MotionCommand functions

Definition at line 135 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::LegOffset = PIDJointOffset
 

the offset of the beginning of the leg joints

Definition at line 130 of file ERS2xxInfo.h.

const float ERS2xxInfo::MaxOutputSpeed[NumOutputs]
 

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.

const double ERS2xxInfo::mechanicalLimits[NumOutputs][2]
 

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} 
    }
This table holds the mechanical limits of each of the outputs.

Definition at line 575 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset)
 

middle left (green - happy)

Definition at line 237 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset)
 

middle right (green - happy)

Definition at line 238 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset)
 

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

Definition at line 216 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::MouthOffset = TailOffset+NumTailJoints
 

the offset of the beginning of the mouth joint

Definition at line 133 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumBinJoints = 2
 

The number of binary joints (210 has ears).

Definition at line 37 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumButtons = 11
 

the number of buttons that are available, see ButtonOffset_t

Definition at line 118 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumEarJoints = 2
 

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

Definition at line 117 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::NumFrames = 4
 

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

Definition at line 27 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumHeadJoints = 3
 

The number of joints in the neck.

Definition at line 114 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumLEDs = 22
 

The number LEDs which can be controlled.

Definition at line 36 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumLegJoints = JointsPerLeg*NumLegs
 

the TOTAL number of joints on ALL legs

Definition at line 113 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumLegs = 4
 

The number of legs.

Definition at line 112 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumMouthJoints = 1
 

the number of joints that control the mouth

Definition at line 116 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs
 

the total number of outputs

Definition at line 38 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumPIDJoints = 18
 

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.

const unsigned ERS2xxInfo::NumSensors = 1+3+1+5
 

1 dist, 3 accel, 1 thermo, 5 from power, see SensorOffset_t

Definition at line 119 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::NumSlowFrames = 1
 

the number of frames per buffer being sent to ears (double buffered as well)

Definition at line 29 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::NumTailJoints = 2
 

The number of joints assigned to the tail.

Definition at line 115 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::outputNameLen = 9
 

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.

const char* const ERS2xxInfo::outputNames[NumOutputs]
 

A name of uniform length for referring to joints - handy for posture files, etc.

Definition at line 330 of file ERS2xxInfo.h.

const double ERS2xxInfo::outputRanges[NumOutputs][2]
 

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} 
    }
This table holds the software limits of each of the outputs.

Definition at line 548 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::PIDJointOffset = 0
 

The beginning of the PID Joints.

Definition at line 129 of file ERS2xxInfo.h.

const char* const ERS2xxInfo::PrimitiveName[NumOutputs]
 

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" 
  }
the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)

Warning:
IMPORTANT!!!! DO NOT CHANGE THE ORDER OF ITEMS IN THIS TABLE!!!
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
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!!!
Note:
These entries DON'T correspond to the CPC index numbers defined in WorldState (this only lists joints, and in a different order defined by OPEN-R, that one has sensors as well

Definition at line 393 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset)
 

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

Definition at line 229 of file ERS2xxInfo.h.

const unsigned int ERS2xxInfo::SlowFrameTime = 128
 

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.

const unsigned int ERS2xxInfo::SoundBufferTime = 32
 

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

Definition at line 30 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset)
 

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

Definition at line 224 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TailLEDMask
 

Initial value:

LEDs for tail.

Definition at line 268 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset)
 

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

Definition at line 223 of file ERS2xxInfo.h.

const unsigned ERS2xxInfo::TailOffset = HeadOffset+NumHeadJoints
 

the offset of the beginning of the tail joints

Definition at line 132 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset)
 

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

Definition at line 225 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)
 

blue tail light

Definition at line 232 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)
 

red tail light

Definition at line 231 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset)
 

top bar (green)

Definition at line 241 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset)
 

top left (red - angry)

Definition at line 239 of file ERS2xxInfo.h.

const LEDBitMask_t ERS2xxInfo::TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset)
 

top right (red - angry)

Definition at line 240 of file ERS2xxInfo.h.


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