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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 | |
Output Offsets | |
Corresponds to entries in PrimitiveName, defined at the end of this file | |
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... | |
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. | |
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 | |
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 | 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 char *const | SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1" |
use to open speaker connectio with the system | |
const char *const | CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1" |
use to open camera connection with the system | |
const float | DefaultPIDs [NumPIDJoints][3] |
This table holds the default PID values for each joint. see PIDMC. | |
const unsigned char | DefaultPIDShifts [3] = {0x0E, 0x02, 0x0F} |
These will control the shift values given to the system. see 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. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 159 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 242 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 123 of file ERS220Info.h. |
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The offsets of the individual legs.
Definition at line 113 of file ERS220Info.h. |
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Defines the min and max index of entries in outputRanges and mechanicalLimits.
Definition at line 474 of file ERS220Info.h. |
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holds offset to different sensor values in WorldState::sensors[]
Definition at line 258 of file ERS220Info.h. |
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selects all of the leds
Definition at line 221 of file ERS220Info.h. |
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Initial value: BackLeft1LEDMask | BackLeft2LEDMask | BackLeft3LEDMask | BackRight1LEDMask | BackRight2LEDMask | BackRight3LEDMask
Definition at line 209 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 167 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 168 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 169 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 172 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 171 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 170 of file ERS220Info.h. |
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The beginning of the binary joints.
Definition at line 110 of file ERS220Info.h. |
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bottom left (red - sad)
Definition at line 182 of file ERS220Info.h. |
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bottom right (red - sad)
Definition at line 183 of file ERS220Info.h. |
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use to open camera connection with the system
Definition at line 377 of file ERS220Info.h. |
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Definition at line 533 of file ERS220Info.h. |
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Definition at line 534 of file ERS220Info.h. |
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Definition at line 532 of file ERS220Info.h. |
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Definition at line 537 of file ERS220Info.h. |
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Definition at line 538 of file ERS220Info.h. |
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Definition at line 536 of file ERS220Info.h. |
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Definition at line 526 of file ERS220Info.h. |
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Definition at line 527 of file ERS220Info.h. |
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Definition at line 525 of file ERS220Info.h. |
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Definition at line 541 of file ERS220Info.h. |
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Definition at line 542 of file ERS220Info.h. |
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Definition at line 540 of file ERS220Info.h. |
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Definition at line 545 of file ERS220Info.h. |
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Definition at line 546 of file ERS220Info.h. |
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Definition at line 544 of file ERS220Info.h. |
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Definition at line 553 of file ERS220Info.h. |
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Definition at line 554 of file ERS220Info.h. |
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Definition at line 555 of file ERS220Info.h. |
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Definition at line 549 of file ERS220Info.h. |
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Definition at line 531 of file ERS220Info.h. |
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Definition at line 529 of file ERS220Info.h. |
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Definition at line 530 of file ERS220Info.h. |
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Definition at line 535 of file ERS220Info.h. |
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Definition at line 539 of file ERS220Info.h. |
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Definition at line 528 of file ERS220Info.h. |
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Definition at line 543 of file ERS220Info.h. |
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Definition at line 547 of file ERS220Info.h. |
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Definition at line 551 of file ERS220Info.h. |
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Definition at line 550 of file ERS220Info.h. |
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Definition at line 552 of file ERS220Info.h. |
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Definition at line 548 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 405 of file ERS220Info.h. |
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These will control the shift values given to the system. see PIDMC.
Definition at line 431 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 164 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 165 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 162 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 163 of file ERS220Info.h. |
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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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So you can be clear when you're refering to a LED bitmask.
Definition at line 176 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 160 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 161 of file ERS220Info.h. |
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Initial value: FaceFrontLeftLEDMask | FaceFrontRightLEDMask | FaceCenterLeftLEDMask | FaceCenterRightLEDMask | FaceBackLeftLEDMask | FaceBackRightLEDMask | FaceFrontALEDMask | FaceFrontBLEDMask | FaceFrontCLEDMask | ModeLEDMask
Definition at line 193 of file ERS220Info.h. |
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time between frames in the motion system (milliseconds)
Definition at line 33 of file ERS220Info.h. |
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Initial value: LEDs on head (face plus retractable light).
Definition at line 205 of file ERS220Info.h. |
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the offset of the beginning of the head joints
Definition at line 106 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 47 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 67 of file ERS220Info.h. |
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The number of joints per leg.
Definition at line 86 of file ERS220Info.h. |
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the offset of LEDs in WorldState::outputs and MotionCommand functions
Definition at line 108 of file ERS220Info.h. |
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the offset of the beginning of the leg joints
Definition at line 105 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) These limits are not enforced by the framework. They are simply available for you to use as you see fit. HeadPointerMC is (as of v1.6) the only included MotionCommand to actually use these values. Definition at line 438 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 497 of file ERS220Info.h. |
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middle left (green - happy)
Definition at line 184 of file ERS220Info.h. |
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middle right (green - happy)
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 166 of file ERS220Info.h. |
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The number of binary joints (210 has ears).
Definition at line 44 of file ERS220Info.h. |
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the number of buttons that are available, see ButtonOffset_t
Definition at line 93 of file ERS220Info.h. |
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The number of joints which control the ears (NOT per ear, is total).
Definition at line 92 of file ERS220Info.h. |
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the number of frames per buffer (don't forget also double buffered)
Definition at line 34 of file ERS220Info.h. |
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The number of joints in the neck.
Definition at line 89 of file ERS220Info.h. |
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The number LEDs which can be controlled.
Definition at line 43 of file ERS220Info.h. |
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the TOTAL number of joints on ALL legs
Definition at line 88 of file ERS220Info.h. |
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The number of legs.
Definition at line 87 of file ERS220Info.h. |
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the number of joints that control the mouth
Definition at line 91 of file ERS220Info.h. |
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the total number of outputs
Definition at line 45 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 42 of file ERS220Info.h. |
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1 dist, 3 accel, 1 thermo, 5 from power, see SensorOffset_t
Definition at line 94 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 36 of file ERS220Info.h. |
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The number of joints assigned to the tail.
Definition at line 90 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 275 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 277 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 477 of file ERS220Info.h. |
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The beginning of the PID Joints.
Definition at line 104 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 329 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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time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)
Definition at line 35 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 37 of file ERS220Info.h. |
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use to open speaker connectio with the system
Definition at line 374 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 174 of file ERS220Info.h. |
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Initial value: LEDs for tail.
Definition at line 217 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 173 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 175 of file ERS220Info.h. |
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blue tail light
Definition at line 190 of file ERS220Info.h. |
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red tail light
Definition at line 189 of file ERS220Info.h. |
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top bar (green)
Definition at line 188 of file ERS220Info.h. |
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top left (red - angry)
Definition at line 186 of file ERS220Info.h. |
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top right (red - angry)
Definition at line 187 of file ERS220Info.h. |
Tekkotsu v2.0 |
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