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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 | 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 = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask |
LEDs for face (all but tail). | |
const LEDBitMask_t | HeadLEDMask = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask |
LEDs for face (all but tail). | |
const LEDBitMask_t | BackLEDMask = 0 |
210 has no back LEDs | |
const LEDBitMask_t | TailLEDMask = TlRedLEDMask|TlBluLEDMask |
LEDs on 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 } |
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 except ears. | |
const unsigned | NumLEDs = 9 |
The number LEDs which can be controlled. | |
const unsigned | NumBinJoints = 2 |
The number of binary joints - just the ears. | |
const unsigned | NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs |
the total number of outputs | |
const bool | IsFastOutput [NumOutputs] = { 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 } |
const bool | IsRealERS210 [NumOutputs] = { 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 } |
we need this so you can tell programmatically which joints are "real" and which are "fake" in compatability mode | |
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 | |
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 |
Head. | |
const int | CPCJointNeckPan = 1 |
Head. | |
const int | CPCJointNeckRoll = 2 |
Head. | |
const int | CPCSensorHeadBackPressure = 3 |
Head. | |
const int | CPCSensorHeadFrontPressure = 4 |
Head. | |
const int | CPCSensorPSD = 5 |
Head. | |
const int | CPCJointMouth = 6 |
Head. | |
const int | CPCSensorChinSwitch = 7 |
Head. | |
const int | CPCJointLFRotator = 8 |
Left front leg. | |
const int | CPCJointLFElevator = 9 |
Head. | |
const int | CPCJointLFKnee = 10 |
Head. | |
const int | CPCSensorLFPaw = 11 |
Head. | |
const int | CPCJointLHRotator = 12 |
Left hind leg. | |
const int | CPCJointLHElevator = 13 |
Head. | |
const int | CPCJointLHKnee = 14 |
Head. | |
const int | CPCSensorLHPaw = 15 |
Head. | |
const int | CPCJointRFRotator = 16 |
Right front leg. | |
const int | CPCJointRFElevator = 17 |
Head. | |
const int | CPCJointRFKnee = 18 |
Head. | |
const int | CPCSensorRFPaw = 19 |
Head. | |
const int | CPCJointRHRotator = 20 |
Right hind leg. | |
const int | CPCJointRHElevator = 21 |
Head. | |
const int | CPCJointRHKnee = 22 |
Head. | |
const int | CPCSensorRHPaw = 23 |
Head. | |
const int | CPCJointTailPan = 24 |
Tail. | |
const int | CPCJointTailTilt = 25 |
Head. | |
const int | CPCSensorThermoSensor = 26 |
Head. | |
const int | CPCSensorBackSwitch = 27 |
Head. | |
const int | CPCSensorAccelFB = 28 |
Front-back
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const int | CPCSensorAccelLR = 29 |
Left-right
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const int | CPCSensorAccelUD = 30 |
Up-down
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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 { BotLLEDOffset = LEDOffset, BotRLEDOffset, MidLLEDOffset, MidRLEDOffset, TopLLEDOffset, TopRLEDOffset, TopBrLEDOffset, TlRedLEDOffset, TlBluLEDOffset, FaceFrontLeftLEDOffset = BotLLEDOffset, FaceFrontRightLEDOffset = BotRLEDOffset, FaceCenterLeftLEDOffset = MidLLEDOffset, FaceCenterRightLEDOffset = MidRLEDOffset, FaceBackLeftLEDOffset = TopLLEDOffset, FaceBackRightLEDOffset = TopRLEDOffset, ModeLEDOffset = TopBrLEDOffset, TailRightLEDOffset = TlRedLEDOffset, TailLeftLEDOffset = TlBluLEDOffset } |
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 | 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 = 8 |
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 | |
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 133 of file ERS210Info.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 169 of file ERS210Info.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 108 of file ERS210Info.h. |
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The offsets of the individual legs.
Definition at line 86 of file ERS210Info.h. |
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the ordering of legs
Definition at line 78 of file ERS210Info.h. |
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Defines the min and max index of entries in outputRanges and mechanicalLimits.
Definition at line 378 of file ERS210Info.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 94 of file ERS210Info.h. |
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holds offset to different sensor values in WorldState::sensors[]
Definition at line 182 of file ERS210Info.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 101 of file ERS210Info.h. |
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selects all of the leds
Definition at line 148 of file ERS210Info.h. |
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210 has no back LEDs
Definition at line 146 of file ERS210Info.h. |
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The beginning of the binary joints.
Definition at line 73 of file ERS210Info.h. |
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bottom left (red - sad)
Definition at line 134 of file ERS210Info.h. |
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bottom right (red - sad)
Definition at line 135 of file ERS210Info.h. |
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Head.
Definition at line 436 of file ERS210Info.h. |
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Head.
Definition at line 437 of file ERS210Info.h. |
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Left front leg.
Definition at line 435 of file ERS210Info.h. |
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Head.
Definition at line 440 of file ERS210Info.h. |
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Head.
Definition at line 441 of file ERS210Info.h. |
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Left hind leg.
Definition at line 439 of file ERS210Info.h. |
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Head.
Definition at line 433 of file ERS210Info.h. |
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Head.
Definition at line 428 of file ERS210Info.h. |
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Head.
Definition at line 429 of file ERS210Info.h. |
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Head.
Definition at line 427 of file ERS210Info.h. |
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Head.
Definition at line 444 of file ERS210Info.h. |
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Head.
Definition at line 445 of file ERS210Info.h. |
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Right front leg.
Definition at line 443 of file ERS210Info.h. |
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Head.
Definition at line 448 of file ERS210Info.h. |
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Head.
Definition at line 449 of file ERS210Info.h. |
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Right hind leg.
Definition at line 447 of file ERS210Info.h. |
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Tail.
Definition at line 451 of file ERS210Info.h. |
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Head.
Definition at line 452 of file ERS210Info.h. |
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Front-back
Definition at line 455 of file ERS210Info.h. |
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Left-right
Definition at line 456 of file ERS210Info.h. |
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Up-down
Definition at line 457 of file ERS210Info.h. |
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Head.
Definition at line 454 of file ERS210Info.h. |
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Head.
Definition at line 434 of file ERS210Info.h. |
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Head.
Definition at line 430 of file ERS210Info.h. |
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Head.
Definition at line 431 of file ERS210Info.h. |
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Head.
Definition at line 438 of file ERS210Info.h. |
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Head.
Definition at line 442 of file ERS210Info.h. |
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Head.
Definition at line 432 of file ERS210Info.h. |
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Head.
Definition at line 446 of file ERS210Info.h. |
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Head.
Definition at line 450 of file ERS210Info.h. |
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Head.
Definition at line 453 of file ERS210Info.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 315 of file ERS210Info.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 74 of file ERS210Info.h. |
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LEDs for face (all but tail).
Definition at line 144 of file ERS210Info.h. |
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time between frames in the motion system (milliseconds)
Definition at line 27 of file ERS210Info.h. |
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LEDs for face (all but tail).
Definition at line 145 of file ERS210Info.h. |
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the offset of the beginning of the head joints
Definition at line 67 of file ERS210Info.h. |
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true for joints which can be updated every 32 ms (all but the ears) Definition at line 41 of file ERS210Info.h. |
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we need this so you can tell programmatically which joints are "real" and which are "fake" in compatability mode
Definition at line 43 of file ERS210Info.h. |
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The number of joints per leg.
Definition at line 46 of file ERS210Info.h. |
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the offset of LEDs in WorldState::outputs and MotionCommand functions
Definition at line 71 of file ERS210Info.h. |
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the offset of the beginning of the leg joints
Definition at line 66 of file ERS210Info.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, 4.4724062e-03, 4.4724062e-03, 4.3742314e-03, 0,0,0,0,0,0,0,0,0, 0,0 } a value <= 0 means infinite speed (e.g. LEDs) Definition at line 342 of file ERS210Info.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} }
Definition at line 400 of file ERS210Info.h. |
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middle left (green - happy)
Definition at line 136 of file ERS210Info.h. |
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middle right (green - happy)
Definition at line 137 of file ERS210Info.h. |
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the offset of the beginning of the mouth joint
Definition at line 69 of file ERS210Info.h. |
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The number of binary joints - just the ears.
Definition at line 38 of file ERS210Info.h. |
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the number of buttons that are available, see ButtonOffset_t
Definition at line 53 of file ERS210Info.h. |
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The number of joints which control the ears (NOT per ear, is total).
Definition at line 52 of file ERS210Info.h. |
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the number of frames per buffer (don't forget also double buffered)
Definition at line 28 of file ERS210Info.h. |
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The number of joints in the neck.
Definition at line 49 of file ERS210Info.h. |
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The number LEDs which can be controlled.
Definition at line 37 of file ERS210Info.h. |
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the TOTAL number of joints on ALL legs
Definition at line 48 of file ERS210Info.h. |
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The number of legs.
Definition at line 47 of file ERS210Info.h. |
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the number of joints that control the mouth
Definition at line 51 of file ERS210Info.h. |
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the total number of outputs
Definition at line 39 of file ERS210Info.h. |
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The number of joints which use PID motion - everything except ears. 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 36 of file ERS210Info.h. |
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1 dist, 3 accel, 1 thermo, 5 from power, see SensorOffset_t
Definition at line 54 of file ERS210Info.h. |
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the number of frames per buffer being sent to ears (double buffered as well)
Definition at line 30 of file ERS210Info.h. |
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The number of joints assigned to the tail.
Definition at line 50 of file ERS210Info.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 199 of file ERS210Info.h. |
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A name of uniform length for referring to joints - handy for posture files, etc.
Definition at line 201 of file ERS210Info.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} }
Definition at line 381 of file ERS210Info.h. |
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The beginning of the PID Joints.
Definition at line 65 of file ERS210Info.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/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 250 of file ERS210Info.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 29 of file ERS210Info.h. |
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the number of milliseconds per sound buffer... I'm not sure if this can be changed
Definition at line 31 of file ERS210Info.h. |
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LEDs on tail.
Definition at line 147 of file ERS210Info.h. |
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the offset of the beginning of the tail joints
Definition at line 68 of file ERS210Info.h. |
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blue tail light
Definition at line 142 of file ERS210Info.h. |
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red tail light
Definition at line 141 of file ERS210Info.h. |
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top bar (green)
Definition at line 140 of file ERS210Info.h. |
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top left (red - angry)
Definition at line 138 of file ERS210Info.h. |
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top right (red - angry)
Definition at line 139 of file ERS210Info.h. |
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