ERS220Info Namespace Reference
Detailed Description
Contains information about the ERS-220 Robot, such as number of joints, PID defaults, timing information, etc.
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LED Bitmasks |
Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view
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typedef unsigned int | LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset) |
| So you can be clear when you're refering to a LED bitmask.
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const LEDBitMask_t | BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset) |
| bottom left (red - sad)
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const LEDBitMask_t | BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset) |
| bottom right (red - sad)
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const LEDBitMask_t | MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset) |
| middle left (green - happy)
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const LEDBitMask_t | MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset) |
| middle right (green - happy)
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const LEDBitMask_t | TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset) |
| top left (red - angry)
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const LEDBitMask_t | TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset) |
| top right (red - angry)
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const LEDBitMask_t | TopBrLEDMask = 1<<(TopBrLEDOffset-LEDOffset) |
| top bar (green)
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const LEDBitMask_t | TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset) |
| red tail light
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const LEDBitMask_t | TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset) |
| blue tail light
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const LEDBitMask_t | FaceLEDMask |
| LEDs for face.
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const LEDBitMask_t | HeadLEDMask |
| LEDs on head (face plus retractable light).
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const LEDBitMask_t | BackLEDMask |
| LEDs on back.
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const LEDBitMask_t | TailLEDMask |
| LEDs for tail.
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const LEDBitMask_t | AllLEDMask = ~0 |
| selects all of the leds
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Output Offsets |
Corresponds to entries in ERS220Info::PrimitiveName, defined at the end of this file
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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...
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const unsigned | PIDJointOffset = 0 |
| The beginning of the PID Joints.
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const unsigned | LegOffset = PIDJointOffset |
| the offset of the beginning of the leg joints
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const unsigned | HeadOffset = LegOffset+NumLegJoints |
| the offset of the beginning of the head joints
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const unsigned | LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions
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const unsigned | BinJointOffset = NumOutputs |
| The beginning of the binary joints.
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const unsigned | BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame.
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const unsigned | PawFrameOffset = BaseFrameOffset+1 |
| Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
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const unsigned | CameraFrameOffset = PawFrameOffset+NumLegs |
| Use with kinematics to refer to camera reference frame.
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const unsigned | IRFrameOffset = CameraFrameOffset+1 |
| Use with kinematics to refer to infrared (distance) sensor reference frame.
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Input Offsets |
The order in which inputs should be stored
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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...
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enum | SensorOffset_t {
IRDistOffset = 0,
BAccelOffset,
LAccelOffset,
DAccelOffset,
ThermoOffset,
PowerRemainOffset,
PowerThermoOffset,
PowerCapacityOffset,
PowerVoltageOffset,
PowerCurrentOffset
} |
| holds offset to different sensor values in WorldState::sensors[] More...
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const char *const | ButtonNames [NumButtons] |
| Provides a string name for each button.
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Output Types Information |
const unsigned | JointsPerLeg = 3 |
| The number of joints per leg.
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const unsigned | NumLegs = 4 |
| The number of legs.
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const unsigned | NumLegJoints = JointsPerLeg*NumLegs |
| the TOTAL number of joints on ALL legs
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const unsigned | NumHeadJoints = 3 |
| The number of joints in the neck.
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const unsigned | NumTailJoints = 0 |
| The number of joints assigned to the tail.
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const unsigned | NumMouthJoints = 0 |
| the number of joints that control the mouth
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const unsigned | NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total).
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const unsigned | NumButtons = 11 |
| the number of buttons that are available, see ERS220Info::ButtonOffset_t
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const unsigned | NumSensors = 1+3+1+5 |
| 1 dist, 3 accel, 1 thermo, 5 from power, see ERS220Info::SensorOffset_t
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const unsigned | NumLEDs = 20 |
| The number of LEDs which can be controlled.
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const unsigned | NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
| The number of joints which use PID motion - everything.
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const unsigned | NumBinJoints = NumEarJoints |
| The number of binary joints - just the ears (which the 220 doesn't have).
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const unsigned | NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs |
| the total number of outputs
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const unsigned | NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1 |
| for the base, paw, camera, and IR sensor reference frames
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const bool | IsFastOutput [NumOutputs] |
| true for joints which can be updated every 32 ms (all but the ears on a 210)
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const bool | IsRealERS220 [NumOutputs] |
| true for joints which can be updated every 32 ms (all but the ears on a 210)
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CPC IDs |
values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS220Info::PrimitiveName
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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 left/right are robot's point of view. See also LEDBitMask_t. More...
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enum | MinMaxRange_t { MinRange,
MaxRange
} |
| Defines the indexes to use to access the min and max entries of ERSInfo::outputRanges and ERS7Info::mechanicalLimits. More...
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Variables |
const unsigned int | FrameTime = 8 |
| time between frames in the motion system (milliseconds)
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const unsigned int | NumFrames = 4 |
| the number of frames per buffer (don't forget also double buffered)
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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)
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const unsigned int | NumSlowFrames = 1 |
| the number of frames per buffer being sent to ears (double buffered as well)
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const unsigned int | SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed
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const unsigned | outputNameLen = 9 |
| The length of the strings used for each of the outputs in outputNames (doesn't include null term).
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const char *const | outputNames [NumOutputs] |
| A name of uniform length for referring to joints - handy for posture files, etc.
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const char *const | PrimitiveName [NumOutputs] |
| the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
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const char *const | SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1" |
| use to open speaker connectio with the system
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const char *const | CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1" |
| use to open camera connection with the system
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const float | DefaultPIDs [NumPIDJoints][3] |
| This table holds the default PID values for each joint. see PIDMC.
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const unsigned char | DefaultPIDShifts [3] = {0x0E, 0x02, 0x0F} |
| These will control the shift values given to the system. see PIDMC.
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const float | MaxOutputSpeed [NumOutputs] |
| These values are Sony's recommended maximum joint velocities, in rad/ms.
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const double | outputRanges [NumOutputs][2] |
| This table holds the software limits of each of the outputs.
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const double | mechanicalLimits [NumOutputs][2] |
| This table holds the mechanical limits of each of the outputs.
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Typedef Documentation
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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. |
Enumeration Type Documentation
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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.
- See also:
- WorldState::buttons
ButtonSourceID_t
- Enumeration values:
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LFrPawOffset |
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RFrPawOffset |
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LBkPawOffset |
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RBkPawOffset |
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ChinButOffset |
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BackButOffset |
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HeadFrButOffset |
for the "antenna" - this is <.2 if pushed back all the way |
HeadBkButOffset |
for the "antenna" - this is >.98 if pulled forward, <.2 if pushed back partly |
TailLeftButOffset |
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TailCenterButOffset |
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TailRightButOffset |
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Definition at line 248 of file ERS220Info.h. |
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The offsets of the individual LEDs on the head and tail. Note that left/right are robot's point of view. See also LEDBitMask_t.
- Enumeration values:
-
FaceFrontLeftLEDOffset |
head face side light (front left - blue) |
FaceFrontRightLEDOffset |
head face side light (front right - blue) |
FaceCenterLeftLEDOffset |
head face side light (center left - blue) |
FaceCenterRightLEDOffset |
head face side light (center right - blue) |
FaceBackLeftLEDOffset |
head face side light (back left - red) |
FaceBackRightLEDOffset |
head face side light (back right - red) |
ModeLEDOffset |
mode indicator (back of the head - orange) |
BackLeft1LEDOffset |
back multi-indicator (left #1 - blue) |
BackLeft2LEDOffset |
back multi-indicator (left #2 - blue) |
BackLeft3LEDOffset |
back multi-indicator (left #3 - blue) |
BackRight3LEDOffset |
back multi-indicator (right #3 - blue) |
BackRight2LEDOffset |
back multi-indicator (right #2 - blue) |
BackRight1LEDOffset |
back multi-indicator (right #1 - blue) |
TailLeftLEDOffset |
tail light (left - blue) |
TailCenterLEDOffset |
tail light (center - red) |
TailRightLEDOffset |
tail light (right - blue) |
FaceFrontBLEDOffset |
face front light B (blue) |
FaceFrontALEDOffset |
face front light A (blue) |
FaceFrontCLEDOffset |
face front light C (red) |
RetractableHeadLEDOffset |
retractable head light |
BotLLEDOffset |
bottom left (red - sad) (ERS-210) |
BotRLEDOffset |
bottom right (red - sad) (ERS-210) |
MidLLEDOffset |
middle left (green - happy) (ERS-210) |
MidRLEDOffset |
middle right (green - happy) (ERS-210) |
TopLLEDOffset |
top left (red - angry) (ERS-210) |
TopRLEDOffset |
top right (red - angry) (ERS-210) |
TopBrLEDOffset |
top bar (green) (ERS-210) |
TlBluLEDOffset |
blue tail light (ERS-210) |
TlRedLEDOffset |
red tail light (ERS-210) |
Definition at line 129 of file ERS220Info.h. |
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The offsets of the individual legs.
- Enumeration values:
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LFrLegOffset |
beginning of left front leg |
RFrLegOffset |
beginning of right front leg |
LBkLegOffset |
beginning of left back leg |
RBkLegOffset |
beginning of right back leg |
Definition at line 119 of file ERS220Info.h. |
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holds offset to different sensor values in WorldState::sensors[]
- See also:
- WorldState::sensors[]
- Enumeration values:
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IRDistOffset |
in millimeters |
BAccelOffset |
backward acceleration, in , negative if sitting on butt (positive for faceplant) |
LAccelOffset |
acceleration to the robot's left, in , negative if lying on robot's left side |
DAccelOffset |
downward acceleration, in , negative if standing up... be careful about the signs on all of these... |
ThermoOffset |
in degrees Celcius |
PowerRemainOffset |
percentage, 0-1 |
PowerThermoOffset |
degrees Celcius |
PowerCapacityOffset |
milli-amp hours |
PowerVoltageOffset |
volts |
PowerCurrentOffset |
milli-amp negative values (maybe positive while charging?) |
Definition at line 269 of file ERS220Info.h. |
Variable Documentation
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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 174 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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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 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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Use with kinematics to refer to base reference frame.
Definition at line 113 of file ERS220Info.h. |
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The beginning of the binary joints.
Definition at line 111 of file ERS220Info.h. |
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Initial value: {
"LFrPaw","RFrPaw","LBkPaw","ChinBut","BackBut","HeadFrBut","HeadBkBut","TailLeftBut","TailCenterBut","TailRightBut"
}
Provides a string name for each button.
Definition at line 263 of file ERS220Info.h. |
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Use with kinematics to refer to camera reference frame.
Definition at line 115 of file ERS220Info.h. |
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use to open camera connection with the system
Definition at line 388 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)) }
}
This table holds the default PID values for each joint. see PIDMC.
Definition at line 416 of file ERS220Info.h. |
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These will control the shift values given to the system. see PIDMC.
Definition at line 442 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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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 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 183 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 182 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 184 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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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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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 211 of file ERS220Info.h. |
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the offset of the beginning of the head joints
Definition at line 107 of file ERS220Info.h. |
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Use with kinematics to refer to infrared (distance) sensor reference frame.
Definition at line 116 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,
}
true for joints which can be updated every 32 ms (all but the ears on a 210)
Definition at line 58 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,
}
true for joints which can be updated every 32 ms (all but the ears on a 210)
Definition at line 78 of file ERS220Info.h. |
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The number of joints per leg.
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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the offset of the beginning of the leg joints
Definition at line 106 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
}
These values are Sony's recommended maximum joint velocities, in rad/ms.
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 449 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(-91.5),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}
}
This table holds the mechanical limits of each of the outputs.
Definition at line 508 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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The number of binary joints - just the ears (which the 220 doesn't have).
Definition at line 54 of file ERS220Info.h. |
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The number of joints which control the ears (NOT per ear, is total).
Definition at line 48 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 45 of file ERS220Info.h. |
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The number of LEDs which can be controlled.
Definition at line 51 of file ERS220Info.h. |
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the TOTAL number of joints on ALL legs
Definition at line 44 of file ERS220Info.h. |
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the number of joints that control the mouth
Definition at line 47 of file ERS220Info.h. |
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the total number of outputs
Definition at line 55 of file ERS220Info.h. |
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The number of joints which use PID motion - everything.
Definition at line 53 of file ERS220Info.h. |
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for the base, paw, camera, and IR sensor reference frames
Definition at line 56 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 46 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 286 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 288 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(-88.5),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}
}
This table holds the software limits of each of the outputs.
Definition at line 488 of file ERS220Info.h. |
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Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
Definition at line 114 of file ERS220Info.h. |
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The beginning of the PID Joints.
Definition at line 105 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",
}
the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
- Warning:
- IMPORTANT!!!! DO NOT CHANGE THE ORDER OF ITEMS IN THIS TABLE!!!
The offset consts defined in this file correspond to this table and will make life easier if you feel the need to reorder things, but they aren't used perfect everywhere
In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs
There may be other assumptions not noted here!!! - Note:
- These entries DON'T correspond to the CPC index numbers defined in WorldState (this only lists joints, and in a different order defined by OPEN-R, that one has sensors as well
Definition at line 340 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 185 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 385 of file ERS220Info.h. |
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So you can be clear when you're refering to a LED bitmask.
Definition at line 180 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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So you can be clear when you're refering to a LED bitmask.
Definition at line 181 of file ERS220Info.h. |
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