ERS210Info Namespace Reference
Detailed Description
Contains information about the ERS-210 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 | 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 = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask |
| LEDs for face (all but tail).
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const LEDBitMask_t | HeadLEDMask = BotLLEDMask|BotRLEDMask|MidLLEDMask|MidRLEDMask|TopLLEDMask|TopRLEDMask|TopBrLEDMask |
| LEDs for face (all but tail).
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const LEDBitMask_t | BackLEDMask = 0 |
| 210 has no back LEDs
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const LEDBitMask_t | TailLEDMask = TlRedLEDMask|TlBluLEDMask |
| LEDs on 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 ERS210Info::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 | TailOffset = HeadOffset+NumHeadJoints |
| the offset of the beginning of the tail joints
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const unsigned | MouthOffset = TailOffset+NumTailJoints |
| the offset of the beginning of the mouth joint
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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 = LEDOffset + NumLEDs |
| The beginning of the binary joints.
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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
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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
} |
| 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 = 2 |
| The number of joints assigned to the tail.
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const unsigned | NumMouthJoints = 1 |
| the number of joints that control the mouth
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const unsigned | NumEarJoints = 2 |
| The number of joints which control the ears (NOT per ear, is total).
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const unsigned | NumButtons = 8 |
| the number of buttons that are available, see ERS210Info::ButtonOffset_t
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const unsigned | NumSensors = 1+3+1+5 |
| 1 dist, 3 accel, 1 thermo, 5 from power, see ERS210Info::SensorOffset_t
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const unsigned | NumLEDs = 9 |
| 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 except ears.
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const unsigned | NumBinJoints = NumEarJoints |
| The number of binary joints - just the ears.
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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,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 ERS-2xx target mode
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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 ERS210Info::PrimitiveName
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static const int | CPCJointNeckTilt = 0 |
static const int | CPCJointNeckPan = 1 |
static const int | CPCJointNeckRoll = 2 |
static const int | CPCSensorHeadBackPressure = 3 |
static const int | CPCSensorHeadFrontPressure = 4 |
static const int | CPCSensorPSD = 5 |
static const int | CPCJointMouth = 6 |
static const int | CPCSensorChinSwitch = 7 |
static const int | CPCJointLFRotator = 8 |
static const int | CPCJointLFElevator = 9 |
static const int | CPCJointLFKnee = 10 |
static const int | CPCSensorLFPaw = 11 |
static const int | CPCJointLHRotator = 12 |
static const int | CPCJointLHElevator = 13 |
static const int | CPCJointLHKnee = 14 |
static const int | CPCSensorLHPaw = 15 |
static const int | CPCJointRFRotator = 16 |
static const int | CPCJointRFElevator = 17 |
static const int | CPCJointRFKnee = 18 |
static const int | CPCSensorRFPaw = 19 |
static const int | CPCJointRHRotator = 20 |
static const int | CPCJointRHElevator = 21 |
static const int | CPCJointRHKnee = 22 |
static const int | CPCSensorRHPaw = 23 |
static const int | CPCJointTailPan = 24 |
static const int | CPCJointTailTilt = 25 |
static const int | CPCSensorThermoSensor = 26 |
static const int | CPCSensorBackSwitch = 27 |
static const int | CPCSensorAccelFB = 28 |
| Front-back; see RobotInfo::BAccelOffset.
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static const int | CPCSensorAccelLR = 29 |
| Left-right; see RobotInfo::LAccelOffset.
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static const int | CPCSensorAccelUD = 30 |
| Up-down; see RobotInfo::DAccelOffset.
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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 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 ERS210Info::outputRanges and ERS210Info::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 121 of file ERS210Info.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 |
not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none |
HeadBkButOffset |
not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none |
Definition at line 157 of file ERS210Info.h. |
|
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:
-
BotLLEDOffset |
bottom left (red - sad) |
BotRLEDOffset |
bottom right (red - sad) |
MidLLEDOffset |
middle left (green - happy) |
MidRLEDOffset |
middle right (green - happy) |
TopLLEDOffset |
top left (red - angry) |
TopRLEDOffset |
top right (red - angry) |
TopBrLEDOffset |
top bar (green) |
TlRedLEDOffset |
red tail light |
TlBluLEDOffset |
blue tail light |
FaceFrontLeftLEDOffset |
alias for 220 cross-compatibility |
FaceFrontRightLEDOffset |
alias for 220 cross-compatibility |
FaceCenterLeftLEDOffset |
alias for 220 cross-compatibility |
FaceCenterRightLEDOffset |
alias for 220 cross-compatibility |
FaceBackLeftLEDOffset |
alias for 220 cross-compatibility |
FaceBackRightLEDOffset |
alias for 220 cross-compatibility |
ModeLEDOffset |
alias for 220 cross-compatibility |
TailRightLEDOffset |
alias for 220 cross-compatibility |
TailLeftLEDOffset |
alias for 220 cross-compatibility |
Definition at line 96 of file ERS210Info.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 86 of file ERS210Info.h. |
|
holds offset to different sensor values in WorldState::sensors[]
- See also:
- WorldState::sensors[]
- Enumeration values:
-
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 175 of file ERS210Info.h. |
Variable Documentation
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Use with kinematics to refer to base reference frame.
Definition at line 80 of file ERS210Info.h. |
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The beginning of the binary joints.
Definition at line 77 of file ERS210Info.h. |
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Initial value: {
"LFrPaw","RFrPaw","LBkPaw","ChinBut","BackBut","HeadFrBut","HeadBkBut"
}
Provides a string name for each button.
Definition at line 169 of file ERS210Info.h. |
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Use with kinematics to refer to camera reference frame.
Definition at line 82 of file ERS210Info.h. |
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use to open camera connection with the system
Definition at line 286 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)) }
}
This table holds the default PID values for each joint. see PIDMC.
Definition at line 314 of file ERS210Info.h. |
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These will control the shift values given to the system. see PIDMC.
Definition at line 340 of file ERS210Info.h. |
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the offset of the beginning of the ear joints - note that ears aren't sensed. They can be flicked by the environment and you won't know. Nor will they be flicked back
Definition at line 78 of file ERS210Info.h. |
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time between frames in the motion system (milliseconds)
Definition at line 30 of file ERS210Info.h. |
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the offset of the beginning of the head joints
Definition at line 71 of file ERS210Info.h. |
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Use with kinematics to refer to infrared (distance) sensor reference frame.
Definition at line 83 of file ERS210Info.h. |
const bool ERS210Info::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 } |
|
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true for joints which can be updated every 32 ms (all but the ears)
Definition at line 55 of file ERS210Info.h. |
const bool ERS210Info::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 } |
|
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we need this so you can tell programmatically which joints are "real" and which are "fake" in ERS-2xx target mode
Definition at line 57 of file ERS210Info.h. |
|
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 39 of file ERS210Info.h. |
|
the offset of the beginning of the leg joints
Definition at line 70 of file ERS210Info.h. |
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Initial value: {
2.8143434e-03,
2.4980025e-03,
2.8361600e-03,
2.8143434e-03,
2.4980025e-03,
2.8361600e-03,
2.8143434e-03,
2.4980025e-03,
2.8361600e-03,
2.8143434e-03,
2.4980025e-03,
2.8361600e-03,
2.1053034e-03,
3.0106930e-03,
3.0106930e-03,
4.4724062e-03,
4.4724062e-03,
4.3742314e-03,
0,0,0,0,0,0,0,0,0,
0,0
}
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 347 of file ERS210Info.h. |
|
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}
}
This table holds the mechanical limits of each of the outputs.
Definition at line 405 of file ERS210Info.h. |
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the offset of the beginning of the mouth joint
Definition at line 73 of file ERS210Info.h. |
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The number of binary joints - just the ears.
Definition at line 51 of file ERS210Info.h. |
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The number of joints which control the ears (NOT per ear, is total).
Definition at line 45 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. |
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The number of joints in the neck.
Definition at line 42 of file ERS210Info.h. |
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The number of LEDs which can be controlled.
Definition at line 48 of file ERS210Info.h. |
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the TOTAL number of joints on ALL legs
Definition at line 41 of file ERS210Info.h. |
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the number of joints that control the mouth
Definition at line 44 of file ERS210Info.h. |
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the total number of outputs
Definition at line 52 of file ERS210Info.h. |
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The number of joints which use PID motion - everything except ears.
Definition at line 50 of file ERS210Info.h. |
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for the base, paw, camera, and IR sensor reference frames
Definition at line 53 of file ERS210Info.h. |
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the number of frames per buffer being sent to ears (double buffered as well)
Definition at line 33 of file ERS210Info.h. |
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The number of joints assigned to the tail.
Definition at line 43 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 192 of file ERS210Info.h. |
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A name of uniform length for referring to joints - handy for posture files, etc.
Definition at line 194 of file ERS210Info.h. |
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Initial value:
{
{ RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) },
{ RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) },
{ RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) },
{ RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) },
{ RAD(-82),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) },
{ RAD(-22),RAD(22) },{ RAD(-22),RAD(22) },
{ RAD(-47),RAD(-3) },
{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},
{0,1},{0,1}
}
This table holds the software limits of each of the outputs.
Definition at line 386 of file ERS210Info.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 81 of file ERS210Info.h. |
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The beginning of the PID Joints.
Definition at line 69 of file ERS210Info.h. |
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Initial value: {
"PRM:/r2/c1-Joint2:j1",
"PRM:/r2/c1/c2-Joint2:j2",
"PRM:/r2/c1/c2/c3-Joint2:j3",
"PRM:/r4/c1-Joint2:j1",
"PRM:/r4/c1/c2-Joint2:j2",
"PRM:/r4/c1/c2/c3-Joint2:j3",
"PRM:/r3/c1-Joint2:j1",
"PRM:/r3/c1/c2-Joint2:j2",
"PRM:/r3/c1/c2/c3-Joint2:j3",
"PRM:/r5/c1-Joint2:j1",
"PRM:/r5/c1/c2-Joint2:j2",
"PRM:/r5/c1/c2/c3-Joint2:j3",
"PRM:/r1/c1-Joint2:j1",
"PRM:/r1/c1/c2-Joint2:j2",
"PRM:/r1/c1/c2/c3-Joint2:j3",
"PRM:/r6/c2-Joint2:j2",
"PRM:/r6/c1-Joint2:j1",
"PRM:/r1/c1/c2/c3/c4-Joint2:j4",
"PRM:/r1/c1/c2/c3/l1-LED2:l1",
"PRM:/r1/c1/c2/c3/l4-LED2:l4",
"PRM:/r1/c1/c2/c3/l2-LED2:l2",
"PRM:/r1/c1/c2/c3/l5-LED2:l5",
"PRM:/r1/c1/c2/c3/l3-LED2:l3",
"PRM:/r1/c1/c2/c3/l6-LED2:l6",
"PRM:/r1/c1/c2/c3/l7-LED2:l7",
"PRM:/r6/l2-LED2:l2",
"PRM:/r6/l1-LED2:l1",
"PRM:/r1/c1/c2/c3/e1-Joint3:j5",
"PRM:/r1/c1/c2/c3/e2-Joint3:j6"
}
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 243 of file ERS210Info.h. |
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time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)
Definition at line 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. |
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use to open speaker connectio with the system
Definition at line 283 of file ERS210Info.h. |
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the offset of the beginning of the tail joints
Definition at line 72 of file ERS210Info.h. |
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