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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 | |
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 | 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 | |
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 | |
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; see RobotInfo::BAccelOffset. | |
const int | CPCSensorAccelLR = 29 |
Left-right; see RobotInfo::LAccelOffset. | |
const int | CPCSensorAccelUD = 30 |
Up-down; see RobotInfo::DAccelOffset. | |
Enumerations | |
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 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 115 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 151 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 90 of file ERS210Info.h. |
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The offsets of the individual legs.
Definition at line 80 of file ERS210Info.h. |
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Defines the min and max index of entries in outputRanges and mechanicalLimits.
Definition at line 372 of file ERS210Info.h. |
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holds offset to different sensor values in WorldState::sensors[]
Definition at line 164 of file ERS210Info.h. |
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selects all of the leds
Definition at line 130 of file ERS210Info.h. Referenced by LedMC::LedMC(). |
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210 has no back LEDs
Definition at line 128 of file ERS210Info.h. |
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The beginning of the binary joints.
Definition at line 76 of file ERS210Info.h. Referenced by MMCombo::ReadySendJoints(), MMCombo::SetupOutputs(), and MotionManager::updateWorldState(). |
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bottom left (red - sad)
Definition at line 116 of file ERS210Info.h. Referenced by LedEngine::displayPercent(), and BanditMachine::WaitNode::DoStart(). |
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bottom right (red - sad)
Definition at line 117 of file ERS210Info.h. Referenced by LedEngine::displayPercent(), and BanditMachine::WaitNode::DoStart(). |
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use to open camera connection with the system
Definition at line 275 of file ERS210Info.h. Referenced by Config::setValue(). |
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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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Left front leg.
Definition at line 429 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 435 of file ERS210Info.h. |
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Left hind leg.
Definition at line 433 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 422 of file ERS210Info.h. |
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Head.
Definition at line 423 of file ERS210Info.h. |
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Head.
Definition at line 421 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 439 of file ERS210Info.h. |
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Right front leg.
Definition at line 437 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 443 of file ERS210Info.h. |
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Right hind leg.
Definition at line 441 of file ERS210Info.h. |
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Tail.
Definition at line 445 of file ERS210Info.h. |
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Head.
Definition at line 446 of file ERS210Info.h. |
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Front-back; see RobotInfo::BAccelOffset.
Definition at line 449 of file ERS210Info.h. |
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Left-right; see RobotInfo::LAccelOffset.
Definition at line 450 of file ERS210Info.h. |
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Up-down; see RobotInfo::DAccelOffset.
Definition at line 451 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 428 of file ERS210Info.h. |
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Head.
Definition at line 424 of file ERS210Info.h. |
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Head.
Definition at line 425 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 436 of file ERS210Info.h. |
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Head.
Definition at line 426 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 444 of file ERS210Info.h. |
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Head.
Definition at line 447 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 303 of file ERS210Info.h. Referenced by MotionManager::OutputState::OutputState(), PIDMC::setAllPowerLevel(), PIDMC::setJointPowerLevel(), and PIDMC::setRangePowerLevel(). |
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These will control the shift values given to the system. see PIDMC.
Definition at line 329 of file ERS210Info.h. Referenced by MotionManager::updatePIDs(). |
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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 77 of file ERS210Info.h. |
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LEDs for face (all but tail).
Definition at line 126 of file ERS210Info.h. Referenced by BehaviorSwitchActivatorControl::activate(), LedEngine::displayNumber(), LedEngine::displayPercent(), ControlBase::doReadStdIn(), ControlBase::doSelect(), and Controller::DoStart(). |
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time between frames in the motion system (milliseconds)
Definition at line 30 of file ERS210Info.h. Referenced by HeadPointerMC::defaultMaxSpeed(), StartupBehavior::DoStart(), HeadPointerMC::getMaxSpeed(), BatteryMonitorBehavior::processEvent(), HeadPointerMC::setMaxSpeed(), LedEngine::updateLEDFrames(), LedEngine::updateLEDs(), TailWagMC::updateOutputs(), MotionSequenceMC< MAXMOVE >::updateOutputs(), DynamicMotionSequence::updateOutputs(), and WalkMC::WalkMC(). |
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LEDs for face (all but tail).
Definition at line 127 of file ERS210Info.h. |
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the offset of the beginning of the head joints
Definition at line 70 of file ERS210Info.h. Referenced by HeadPointerMC::convFromBodyRelative(), HeadPointerMC::convToBodyRelative(), HeadLevelBehavior::DoStart(), HeadPointerMC::getOutputCmd(), HeadPointerMC::HeadPointerMC(), WalkToTargetMachine::processEvent(), StareAtBallBehavior::processEvent(), SimpleChaseBallBehavior::processEvent(), HeadLevelBehavior::processEvent(), FollowHeadBehavior::processEvent(), ChaseBallBehavior::processEvent(), WorldState::read(), HeadPointControllerBehavior::runCommand(), and HeadPointerMC::updateOutputs(). |
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true for joints which can be updated every 32 ms (all but the ears) Definition at line 44 of file ERS210Info.h. Referenced by MMCombo::DoInit(). |
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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 46 of file ERS210Info.h. |
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The number of joints per leg.
Definition at line 49 of file ERS210Info.h. Referenced by WalkMC::init(), WalkMC::resetLegPos(), and WalkMC::updateOutputs(). |
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the offset of LEDs in WorldState::outputs and MotionCommand functions
Definition at line 74 of file ERS210Info.h. Referenced by PostureEditor::activate(), Controller::deactivate(), LedEngine::displayNumber(), Controller::DoStop(), EmergencyStopMC::EmergencyStopMC(), EmergencyStopMC::freezeJoints(), LedEngine::getSetting(), LedEngine::getValue(), MMCombo::ReadySendJoints(), EmergencyStopMC::releaseJoints(), MMCombo::SetupOutputs(), LedEngine::updateLEDs(), LedMC::updateOutputs(), EmergencyStopMC::updateOutputs(), and MotionManager::updateWorldState(). |
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the offset of the beginning of the leg joints
Definition at line 69 of file ERS210Info.h. Referenced by WalkMC::resetLegPos(), and WalkMC::updateOutputs(). |
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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) 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 336 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 394 of file ERS210Info.h. |
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middle left (green - happy)
Definition at line 118 of file ERS210Info.h. Referenced by LedEngine::displayPercent(), and BanditMachine::WaitNode::processEvent(). |
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middle right (green - happy)
Definition at line 119 of file ERS210Info.h. Referenced by LedEngine::displayPercent(), and BanditMachine::WaitNode::processEvent(). |
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the offset of the beginning of the mouth joint
Definition at line 72 of file ERS210Info.h. |
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The number of binary joints - just the ears.
Definition at line 41 of file ERS210Info.h. Referenced by MMCombo::ReadySendJoints(), MMCombo::SetupOutputs(), and MotionManager::updateWorldState(). |
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the number of buttons that are available, see ButtonOffset_t
Definition at line 56 of file ERS210Info.h. Referenced by WorldStateSerializerBehavior::processEvent(), SensorObserverControl::processEvent(), SensorObserverControl::SensorObserverControl(), and WorldState::WorldState(). |
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The number of joints which control the ears (NOT per ear, is total).
Definition at line 55 of file ERS210Info.h. |
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the number of frames per buffer (don't forget also double buffered)
Definition at line 31 of file ERS210Info.h. Referenced by StartupBehavior::DoStart(), MotionManager::getOutputs(), MotionManager::OutputState::OutputState(), BatteryMonitorBehavior::processEvent(), MMCombo::ReadySendJoints(), MotionManager::setOutput(), MMCombo::SetupOutputs(), LedMC::setWeights(), LedEngine::updateLEDFrames(), LedEngine::updateLEDs(), WalkMC::updateOutputs(), TailWagMC::updateOutputs(), MotionSequenceMC< MAXMOVE >::updateOutputs(), HeadPointerMC::updateOutputs(), and DynamicMotionSequence::updateOutputs(). |
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The number of joints in the neck.
Definition at line 52 of file ERS210Info.h. Referenced by HeadPointerMC::getOutputCmd(), HeadPointerMC::HeadPointerMC(), HeadPointerMC::noMaxSpeed(), HeadLevelBehavior::processEvent(), FollowHeadBehavior::processEvent(), HeadPointerMC::setMode(), HeadPointerMC::setWeight(), and HeadPointerMC::updateOutputs(). |
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the TOTAL number of joints on ALL legs
Definition at line 51 of file ERS210Info.h. Referenced by WalkMC::updateOutputs(). |
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The number of legs.
Definition at line 50 of file ERS210Info.h. Referenced by WalkMC::init(), WalkMC::resetLegPos(), and WalkMC::updateOutputs(). |
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the number of joints that control the mouth
Definition at line 54 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 39 of file ERS210Info.h. Referenced by Aibo3DControllerBehavior::DoStart(), EmergencyStopMC::EmergencyStopMC(), MotionManager::getOutputs(), PIDMC::isPID(), PIDMC::PIDMC(), WorldStateSerializerBehavior::processEvent(), SensorObserverControl::processEvent(), MMCombo::ReadySendJoints(), Aibo3DControllerBehavior::registerData(), RemoteControllerMC::RemoteControllerMC(), SensorObserverControl::SensorObserverControl(), PIDMC::setAllPowerLevel(), MMCombo::SetupOutputs(), RemoteControllerMC::updateOutputs(), PIDMC::updateOutputs(), EmergencyStopMC::updateOutputs(), Aibo3DControllerBehavior::updateRC(), MotionManager::updateWorldState(), and WorldState::WorldState(). |
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1 dist, 3 accel, 1 thermo, 5 from power, see SensorOffset_t
Definition at line 57 of file ERS210Info.h. Referenced by WorldStateSerializerBehavior::processEvent(), SensorObserverControl::processEvent(), SensorObserverControl::SensorObserverControl(), and WorldState::WorldState(). |
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the number of frames per buffer being sent to ears (double buffered as well)
Definition at line 33 of file ERS210Info.h. Referenced by MMCombo::ReadySendJoints(), and MMCombo::SetupOutputs(). |
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The number of joints assigned to the tail.
Definition at line 53 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 181 of file ERS210Info.h. Referenced by PostureEngine::LoadBuffer(). |
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A name of uniform length for referring to joints - handy for posture files, etc.
Definition at line 183 of file ERS210Info.h. Referenced by PostureEngine::getBinSize(), MotionSequence::getBinSize(), MotionSequence::getOutputIndex(), PostureEngine::LoadBuffer(), PostureEditor::PostureEditor(), PostureEngine::SaveBuffer(), MotionSequence::SaveBuffer(), and SensorObserverControl::SensorObserverControl(). |
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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 375 of file ERS210Info.h. Referenced by BanditMachine::PressNode::PressNode(), WalkToTargetMachine::processEvent(), StartupBehavior::processEvent(), FollowHeadBehavior::processEvent(), AlanBehavior::processEvent(), and HeadPointControllerBehavior::runCommand(). |
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The beginning of the PID Joints.
Definition at line 68 of file ERS210Info.h. Referenced by MotionManager::getOutputs(), PIDMC::getPID(), PIDMC::isPID(), PIDMC::PIDMC(), WorldStateSerializerBehavior::processEvent(), MMCombo::ReadySendJoints(), SensorObserverControl::SensorObserverControl(), PIDMC::setJointPowerLevel(), PIDMC::setPID(), PIDMC::setRangePowerLevel(), MMCombo::SetupOutputs(), RemoteControllerMC::updateOutputs(), and PIDMC::updateOutputs(). |
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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 232 of file ERS210Info.h. Referenced by MMCombo::OpenPrimitives(). |
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time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)
Definition at line 32 of file 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 34 of file ERS210Info.h. Referenced by SoundPlay::NewSoundVectorData(), and SoundTestBehavior::play(). |
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use to open speaker connectio with the system
Definition at line 272 of file ERS210Info.h. Referenced by SoundPlay::OpenSpeaker(). |
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LEDs on tail.
Definition at line 129 of file ERS210Info.h. |
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the offset of the beginning of the tail joints
Definition at line 71 of file ERS210Info.h. |
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blue tail light
Definition at line 124 of file ERS210Info.h. |
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red tail light
Definition at line 123 of file ERS210Info.h. |
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top bar (green)
Definition at line 122 of file ERS210Info.h. Referenced by LedEngine::displayNumber(), and LedEngine::displayPercent(). |
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top left (red - angry)
Definition at line 120 of file ERS210Info.h. Referenced by LedEngine::displayPercent(). |
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top right (red - angry)
Definition at line 121 of file ERS210Info.h. Referenced by LedEngine::displayPercent(). |
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Generated Wed Jan 21 03:23:35 2004 by Doxygen 1.3.4 |