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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 | HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset) |
mask corresponding to HeadColorLEDOffset | |
const LEDBitMask_t | HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset) |
mask corresponding to HeadWhiteLEDOffset | |
const LEDBitMask_t | ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset) |
mask corresponding to ModeRedLEDOffset | |
const LEDBitMask_t | ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset) |
mask corresponding to ModeGreenLEDOffset | |
const LEDBitMask_t | ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset) |
mask corresponding to ModeBlueLEDOffset | |
const LEDBitMask_t | WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset) |
mask corresponding to WirelessLEDOffset | |
const LEDBitMask_t | FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset) |
mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others | |
const LEDBitMask_t | FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset) |
mask corresponding to FrBackColorLEDOffset | |
const LEDBitMask_t | FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset) |
mask corresponding to FrBackWhiteLEDOffset | |
const LEDBitMask_t | MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset) |
mask corresponding to MdBackColorLEDOffset | |
const LEDBitMask_t | MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset) |
mask corresponding to MdBackWhiteLEDOffset | |
const LEDBitMask_t | RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset) |
mask corresponding to RrBackColorLEDOffset | |
const LEDBitMask_t | RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset) |
mask corresponding to RrBackWhiteLEDOffset | |
const LEDBitMask_t | LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset) |
mask corresponding to LEDABModeOffset | |
const LEDBitMask_t | BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset) |
bottom left | |
const LEDBitMask_t | BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset) |
bottom right | |
const LEDBitMask_t | MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset) |
middle left | |
const LEDBitMask_t | MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset) |
middle right | |
const LEDBitMask_t | TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset) |
top left | |
const LEDBitMask_t | TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset) |
top right | |
const LEDBitMask_t | TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset) |
top bar | |
const LEDBitMask_t | TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset) |
red tail light | |
const LEDBitMask_t | TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset) |
blue tail light | |
const LEDBitMask_t | FaceLEDMask = (FaceLEDPanelMask<<0)|(FaceLEDPanelMask<<1)|(FaceLEDPanelMask<<2)|(FaceLEDPanelMask<<3)|(FaceLEDPanelMask<<4)|(FaceLEDPanelMask<<5)|(FaceLEDPanelMask<<6)|(FaceLEDPanelMask<<7)|(FaceLEDPanelMask<<8)|(FaceLEDPanelMask<<9)|(FaceLEDPanelMask<<10)|(FaceLEDPanelMask<<11)|(FaceLEDPanelMask<<12)|(FaceLEDPanelMask<<13) |
LEDs for the face panel. | |
const LEDBitMask_t | HeadLEDMask = FaceLEDMask|HeadColorLEDMask|HeadWhiteLEDMask|ModeRedLEDMask|ModeGreenLEDMask|ModeBlueLEDMask|WirelessLEDMask |
LEDs for face (all but back lights). | |
const LEDBitMask_t | BackLEDMask = FrBackColorLEDMask|FrBackWhiteLEDMask|MdBackColorLEDMask|MdBackWhiteLEDMask|RrBackColorLEDMask|RrBackWhiteLEDMask |
LEDS on the back. | |
const LEDBitMask_t | TailLEDMask = 0 |
LEDs on tail (ERS-7 has none). | |
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, HeadButOffset, FrontBackButOffset, MiddleBackButOffset, RearBackButOffset, WirelessSwOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
enum | SensorOffset_t { NearIRDistOffset = 0, FarIRDistOffset, ChestIRDistOffset, BAccelOffset, LAccelOffset, DAccelOffset, 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 = 27 |
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 for joints which can be updated every 32 ms (all but the ears) | |
const bool | IsRealERS7 [NumOutputs] |
we need this so you can tell programmatically which joints are "real" and which are "fake" in a 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 | CPCJointMouth = 0 |
Mouth. | |
const int | CPCSwitchChin = 1 |
Chin sensor. | |
const int | CPCJointNeckNod = 2 |
Neck tilt2. | |
const int | CPCSensorHead = 3 |
Head sensor. | |
const int | CPCSensorNearPSD = 4 |
Head distance sensor(near). | |
const int | CPCSensorFarPSD = 5 |
Head distance sensor(far). | |
const int | CPCJointNeckPan = 6 |
Neck pan. | |
const int | CPCJointNeckTilt = 7 |
Neck tilt1. | |
const int | CPCSwitchLFPaw = 8 |
Left fore leg paw sensor. | |
const int | CPCJointLFKnee = 9 |
Left fore legJ3. | |
const int | CPCJointLFElevator = 10 |
Left fore legJ2. | |
const int | CPCJointLFRotator = 11 |
Left fore legJ1. | |
const int | CPCSwitchLHPaw = 12 |
Left hind leg paw sensor. | |
const int | CPCJointLHKnee = 13 |
Left hind legJ3. | |
const int | CPCJointLHElevator = 14 |
Left hind legJ2. | |
const int | CPCJointLHRotator = 15 |
Left hind legJ1. | |
const int | CPCSwitchRFPaw = 16 |
Right fore leg paw sensor. | |
const int | CPCJointRFKnee = 17 |
Right fore legJ3. | |
const int | CPCJointRFElevator = 18 |
Right fore legJ2. | |
const int | CPCJointRFRotator = 19 |
Right fore legJ1. | |
const int | CPCSwitchRHPaw = 20 |
Right hind leg paw sensor. | |
const int | CPCJointRHKnee = 21 |
Right hind legJ3. | |
const int | CPCJointRHElevator = 22 |
Right hind legJ2. | |
const int | CPCJointRHRotator = 23 |
Right hind legJ1. | |
const int | CPCJointTailTilt = 24 |
Tail tilt. | |
const int | CPCJointTailPan = 25 |
Tail pan. | |
const int | CPCSensorAccelFB = 26 |
Acceleration sensor(front-back). | |
const int | CPCSensorAccelLR = 27 |
Acceleration sensor(right-left). | |
const int | CPCSensorAccelUD = 28 |
Acceleration sensor(up-down). | |
const int | CPCSensorChestPSD = 29 |
Chest distance sensor. | |
const int | CPCSwitchWireless = 30 |
Wireless LAN switch. | |
const int | CPCSensorBackRear = 31 |
Back sensor(rear). | |
const int | CPCSensorBackMiddle = 32 |
Back sensor(middle). | |
const int | CPCSensorBackFront = 33 |
Back sensor(front). | |
Enumerations | |
enum | LEDOffset_t { HeadColorLEDOffset = LEDOffset, HeadWhiteLEDOffset, ModeRedLEDOffset, ModeGreenLEDOffset, ModeBlueLEDOffset, WirelessLEDOffset, FaceLEDPanelOffset, FrBackColorLEDOffset = FaceLEDPanelOffset+14, FrBackWhiteLEDOffset, MdBackColorLEDOffset, MdBackWhiteLEDOffset, RrBackColorLEDOffset, RrBackWhiteLEDOffset, LEDABModeOffset, BotLLEDOffset = FaceLEDPanelOffset+0, BotRLEDOffset = FaceLEDPanelOffset+1, MidLLEDOffset = FaceLEDPanelOffset+2, MidRLEDOffset = FaceLEDPanelOffset+3, TopLLEDOffset = FaceLEDPanelOffset+6, TopRLEDOffset = FaceLEDPanelOffset+7, TopBrLEDOffset = HeadColorLEDOffset, TlRedLEDOffset = RrBackColorLEDOffset, TlBluLEDOffset = FrBackColorLEDOffset } |
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 = 2+4+3+1 |
the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ButtonOffset_t | |
const unsigned | NumSensors = 3+3+5 |
3 IR (distance), 3 accel (force), 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:/s1-Speaker:S1" |
use to open speaker connection 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, 0x02-1, 0x0F-3} |
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 122 of file ERS7Info.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 174 of file ERS7Info.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 92 of file ERS7Info.h. |
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The offsets of the individual legs.
Definition at line 82 of file ERS7Info.h. |
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Defines the min and max index of entries in outputRanges and mechanicalLimits.
Definition at line 412 of file ERS7Info.h. |
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holds offset to different sensor values in WorldState::sensors[]
Definition at line 189 of file ERS7Info.h. |
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selects all of the leds
Definition at line 153 of file ERS7Info.h. |
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LEDS on the back.
Definition at line 151 of file ERS7Info.h. |
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The beginning of the binary joints.
Definition at line 78 of file ERS7Info.h. |
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bottom left
Definition at line 139 of file ERS7Info.h. |
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bottom right
Definition at line 140 of file ERS7Info.h. |
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use to open camera connection with the system
Definition at line 337 of file ERS7Info.h. |
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Left fore legJ2.
Definition at line 473 of file ERS7Info.h. |
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Left fore legJ3.
Definition at line 472 of file ERS7Info.h. |
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Left fore legJ1.
Definition at line 474 of file ERS7Info.h. |
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Left hind legJ2.
Definition at line 477 of file ERS7Info.h. |
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Left hind legJ3.
Definition at line 476 of file ERS7Info.h. |
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Left hind legJ1.
Definition at line 478 of file ERS7Info.h. |
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Mouth.
Definition at line 463 of file ERS7Info.h. |
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Neck tilt2.
Definition at line 465 of file ERS7Info.h. |
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Neck pan.
Definition at line 469 of file ERS7Info.h. |
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Neck tilt1.
Definition at line 470 of file ERS7Info.h. |
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Right fore legJ2.
Definition at line 481 of file ERS7Info.h. |
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Right fore legJ3.
Definition at line 480 of file ERS7Info.h. |
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Right fore legJ1.
Definition at line 482 of file ERS7Info.h. |
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Right hind legJ2.
Definition at line 485 of file ERS7Info.h. |
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Right hind legJ3.
Definition at line 484 of file ERS7Info.h. |
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Right hind legJ1.
Definition at line 486 of file ERS7Info.h. |
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Tail pan.
Definition at line 488 of file ERS7Info.h. |
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Tail tilt.
Definition at line 487 of file ERS7Info.h. |
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Acceleration sensor(front-back).
Definition at line 489 of file ERS7Info.h. |
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Acceleration sensor(right-left).
Definition at line 490 of file ERS7Info.h. |
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Acceleration sensor(up-down).
Definition at line 491 of file ERS7Info.h. |
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Back sensor(front).
Definition at line 496 of file ERS7Info.h. |
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Back sensor(middle).
Definition at line 495 of file ERS7Info.h. |
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Back sensor(rear).
Definition at line 494 of file ERS7Info.h. |
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Chest distance sensor.
Definition at line 492 of file ERS7Info.h. |
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Head distance sensor(far).
Definition at line 468 of file ERS7Info.h. |
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Head sensor.
Definition at line 466 of file ERS7Info.h. |
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Head distance sensor(near).
Definition at line 467 of file ERS7Info.h. |
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Chin sensor.
Definition at line 464 of file ERS7Info.h. |
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Left fore leg paw sensor.
Definition at line 471 of file ERS7Info.h. |
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Left hind leg paw sensor.
Definition at line 475 of file ERS7Info.h. |
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Right fore leg paw sensor.
Definition at line 479 of file ERS7Info.h. |
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Right hind leg paw sensor.
Definition at line 483 of file ERS7Info.h. |
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Wireless LAN switch.
Definition at line 493 of file ERS7Info.h. |
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Initial value: { { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x02/(double)(1<<(16-0xF)) }, { 0x08/(double)(1<<(16-0xE)), 0x02/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) }, { 0x08/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x02/(double)(1<<(16-0xF)) }, { 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) }, { 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) }, { 0x08/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) } }
Definition at line 340 of file ERS7Info.h. |
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These will control the shift values given to the system. see PIDMC. These are modified from the default values to give better range of values to the gains Definition at line 367 of file ERS7Info.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 79 of file ERS7Info.h. |
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LEDs for the face panel.
Definition at line 149 of file ERS7Info.h. |
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mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others
Definition at line 130 of file ERS7Info.h. |
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time between frames in the motion system (milliseconds)
Definition at line 23 of file ERS7Info.h. |
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mask corresponding to FrBackColorLEDOffset
Definition at line 131 of file ERS7Info.h. |
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mask corresponding to FrBackWhiteLEDOffset
Definition at line 132 of file ERS7Info.h. |
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mask corresponding to HeadColorLEDOffset
Definition at line 124 of file ERS7Info.h. |
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LEDs for face (all but back lights).
Definition at line 150 of file ERS7Info.h. |
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the offset of the beginning of the head joints
Definition at line 72 of file ERS7Info.h. |
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mask corresponding to HeadWhiteLEDOffset
Definition at line 125 of file ERS7Info.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,true,true,true,true,true,true,true,true,true,true, true,true }
Definition at line 38 of file ERS7Info.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,true,true,true,true,true,true,true,true,true,false, true,true }
Definition at line 44 of file ERS7Info.h. |
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The number of joints per leg.
Definition at line 51 of file ERS7Info.h. |
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mask corresponding to LEDABModeOffset
Definition at line 137 of file ERS7Info.h. |
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the offset of LEDs in WorldState::outputs and MotionCommand functions
Definition at line 76 of file ERS7Info.h. |
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the offset of the beginning of the leg joints
Definition at line 71 of file ERS7Info.h. |
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Initial value: { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 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. This is disabled for the ERS-7 until Sony gives us values to use Definition at line 376 of file ERS7Info.h. |
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mask corresponding to MdBackColorLEDOffset
Definition at line 133 of file ERS7Info.h. |
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mask corresponding to MdBackWhiteLEDOffset
Definition at line 134 of file ERS7Info.h. |
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Initial value: { { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, { RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) }, { RAD(5),RAD(60) },{ RAD(-45),RAD(45) }, { RAD(-55),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},{0,1},{0,1},{0,1}, {0,1},{0,1} }
Definition at line 437 of file ERS7Info.h. |
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middle left
Definition at line 141 of file ERS7Info.h. |
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middle right
Definition at line 142 of file ERS7Info.h. |
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mask corresponding to ModeBlueLEDOffset
Definition at line 128 of file ERS7Info.h. |
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mask corresponding to ModeGreenLEDOffset
Definition at line 127 of file ERS7Info.h. |
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mask corresponding to ModeRedLEDOffset
Definition at line 126 of file ERS7Info.h. |
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the offset of the beginning of the mouth joint
Definition at line 74 of file ERS7Info.h. |
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The number of binary joints - just the ears.
Definition at line 34 of file ERS7Info.h. |
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the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ButtonOffset_t
Definition at line 58 of file ERS7Info.h. |
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The number of joints which control the ears (NOT per ear, is total).
Definition at line 57 of file ERS7Info.h. |
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the number of frames per buffer (don't forget also double buffered)
Definition at line 24 of file ERS7Info.h. |
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The number of joints in the neck.
Definition at line 54 of file ERS7Info.h. |
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The number LEDs which can be controlled.
Definition at line 33 of file ERS7Info.h. |
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the TOTAL number of joints on ALL legs
Definition at line 53 of file ERS7Info.h. |
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The number of legs.
Definition at line 52 of file ERS7Info.h. |
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the number of joints that control the mouth
Definition at line 56 of file ERS7Info.h. |
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the total number of outputs
Definition at line 35 of file ERS7Info.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 32 of file ERS7Info.h. |
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3 IR (distance), 3 accel (force), 5 from power, see SensorOffset_t
Definition at line 59 of file ERS7Info.h. |
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the number of frames per buffer being sent to ears (double buffered as well)
Definition at line 26 of file ERS7Info.h. |
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The number of joints assigned to the tail.
Definition at line 55 of file ERS7Info.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 207 of file ERS7Info.h. |
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A name of uniform length for referring to joints - handy for posture files, etc.
Definition at line 209 of file ERS7Info.h. |
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Initial value: { { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, { RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) }, { RAD(5),RAD(60) },{ RAD(-45),RAD(45) }, { RAD(-55),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},{0,1},{0,1}, {0,1}, {0,1},{0,1} }
Definition at line 415 of file ERS7Info.h. |
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The beginning of the PID Joints.
Definition at line 70 of file ERS7Info.h. |
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Initial value: { "PRM:/r2/c1-Joint2:21", "PRM:/r2/c1/c2-Joint2:22", "PRM:/r2/c1/c2/c3-Joint2:23", "PRM:/r4/c1-Joint2:41", "PRM:/r4/c1/c2-Joint2:42", "PRM:/r4/c1/c2/c3-Joint2:43", "PRM:/r3/c1-Joint2:31", "PRM:/r3/c1/c2-Joint2:32", "PRM:/r3/c1/c2/c3-Joint2:33", "PRM:/r5/c1-Joint2:51", "PRM:/r5/c1/c2-Joint2:52", "PRM:/r5/c1/c2/c3-Joint2:53", "PRM:/r1/c1-Joint2:11", "PRM:/r1/c1/c2-Joint2:12", "PRM:/r1/c1/c2/c3-Joint2:13", "PRM:/r6/c1-Joint2:61", "PRM:/r6/c2-Joint2:62", "PRM:/r1/c1/c2/c3/c4-Joint2:14", "PRM:/r1/c1/c2/c3/l1-LED2:l1", "PRM:/r1/c1/c2/c3/l2-LED2:l2", "PRM:/r1/c1/c2/c3/l3-LED2:l3", "PRM:/r1/c1/c2/c3/l4-LED2:l4", "PRM:/r1/c1/c2/c3/l5-LED2:l5", "PRM:/r1/c1/c2/c3/l6-LED2:l6", "PRM:/r1/c1/c2/c3/la-LED3:la", "PRM:/r1/c1/c2/c3/lb-LED3:lb", "PRM:/r1/c1/c2/c3/lc-LED3:lc", "PRM:/r1/c1/c2/c3/ld-LED3:ld", "PRM:/r1/c1/c2/c3/le-LED3:le", "PRM:/r1/c1/c2/c3/lf-LED3:lf", "PRM:/r1/c1/c2/c3/lg-LED3:lg", "PRM:/r1/c1/c2/c3/lh-LED3:lh", "PRM:/r1/c1/c2/c3/li-LED3:li", "PRM:/r1/c1/c2/c3/lj-LED3:lj", "PRM:/r1/c1/c2/c3/lk-LED3:lk", "PRM:/r1/c1/c2/c3/ll-LED3:ll", "PRM:/r1/c1/c2/c3/lm-LED3:lm", "PRM:/r1/c1/c2/c3/ln-LED3:ln", "PRM:/lu-LED3:lu", "PRM:/lv-LED3:lv", "PRM:/lw-LED3:lw", "PRM:/lx-LED3:lx", "PRM:/ly-LED3:ly", "PRM:/lz-LED3:lz", "", "PRM:/r1/c1/c2/c3/e5-Joint4:15", "PRM:/r1/c1/c2/c3/e6-Joint4:16" }
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 275 of file ERS7Info.h. |
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mask corresponding to RrBackColorLEDOffset
Definition at line 135 of file ERS7Info.h. |
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mask corresponding to RrBackWhiteLEDOffset
Definition at line 136 of file ERS7Info.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 25 of file ERS7Info.h. |
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the number of milliseconds per sound buffer... I'm not sure if this can be changed
Definition at line 27 of file ERS7Info.h. |
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use to open speaker connection with the system
Definition at line 334 of file ERS7Info.h. |
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LEDs on tail (ERS-7 has none).
Definition at line 152 of file ERS7Info.h. |
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the offset of the beginning of the tail joints
Definition at line 73 of file ERS7Info.h. |
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blue tail light
Definition at line 147 of file ERS7Info.h. |
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red tail light
Definition at line 146 of file ERS7Info.h. |
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top bar
Definition at line 145 of file ERS7Info.h. |
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top left
Definition at line 143 of file ERS7Info.h. |
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top right
Definition at line 144 of file ERS7Info.h. |
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mask corresponding to WirelessLEDOffset
Definition at line 129 of file ERS7Info.h. |
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Generated Wed Jan 21 03:23:35 2004 by Doxygen 1.3.4 |