QwerkInfo Namespace Reference
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Output Offsets |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
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enum | WheelOffset_t { LWheelOffset = WheelOffset,
RWheelOffset
} |
enum | LEDOffset_t |
| The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values... More...
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const unsigned | PIDJointOffset = 0 |
| The beginning of the PID Joints.
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const unsigned | WheelOffset = PIDJointOffset |
const unsigned | LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets
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const unsigned | BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame.
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const LEDBitMask_t | FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
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const LEDBitMask_t | AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds
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typedef unsigned int | LEDBitMask_t |
Input Offsets |
The order in which inputs should be stored
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enum | ButtonOffset_t |
| holds offsets to different buttons in WorldState::buttons[] More...
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enum | SensorOffset_t { BatteryVoltage
} |
| holds offset to different sensor values in WorldState::sensors[] More...
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const char *const | buttonNames [NumButtons+1] = { NULL } |
| Provides a string name for each button.
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const char *const | sensorNames [NumSensors] |
| Provides a string name for each sensor.
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Functions |
Capabilities | capabilities (TargetName, NumOutputs, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, LEDOffset, NumLEDs) |
Variables |
const char *const | TargetName = "Qwerk" |
| the name of the model, to be used for logging and remote GUIs
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const unsigned int | FrameTime = 15 |
| time between frames in the motion system (milliseconds)
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const unsigned int | NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered)
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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 char *const | outputNames [NumOutputs] |
| Names for each of the outputs.
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Capabilities | capabilities |
| allocation declared in RobotInfo.cc
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const float | DefaultPIDs [NumPIDJoints+1][3] = { {0,0,0} } |
| This table holds the default PID values for each joint. see PIDMC.
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const float | MaxOutputSpeed [NumOutputs] |
| These values are our 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, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).
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const double | mechanicalLimits [NumOutputs][2] |
| This table holds the mechanical limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).
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const unsigned | NumWheels = 4 |
const unsigned | JointsPerArm = 0 |
const unsigned | NumArms = 0 |
const unsigned | NumArmJoints = JointsPerArm*NumArms |
const unsigned | JointsPerLeg = 0 |
| The number of joints per leg.
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const unsigned | NumLegs = 0 |
| 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 = 0 |
| The number of joints in the pantilt.
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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 = 0 |
| the number of buttons that are available
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const unsigned | NumSensors = 9 |
| the number of sensors available
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const unsigned | NumLEDs = 10 |
| The number of LEDs which can be controlled.
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const unsigned | NumFacePanelLEDs = 0 |
| The number of face panel LEDs.
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const unsigned | NumPIDJoints = NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints |
const unsigned | NumOutputs = NumWheels + 16 + NumLEDs |
| servo pins
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const unsigned | NumReferenceFrames = NumOutputs + 1 + NumArms + 1 |
| for the base, gripper (* NumArms), and camera reference frames
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const float | CameraHorizFOV = 56.9/180*M_PI |
| horizontal field of view (radians)
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const float | CameraVertFOV = 45.2/180*M_PI |
| vertical field of view (radians)
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const float | CameraFOV = CameraHorizFOV |
| should be set to maximum of CameraHorizFOV or CameraVertFOV
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const unsigned int | CameraResolutionX = 320 |
| the number of pixels available in the 'full' layer
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const unsigned int | CameraResolutionY = 240 |
| the number of pixels available in the 'full' layer
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Typedef Documentation
So you can be clear when you're refering to a LED bitmask
Definition at line 85 of file QwerkInfo.h.
Enumeration Type Documentation
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 PowerSrcID::PauseSID.
- See also:
- WorldState::buttons
ButtonSourceID_t
Definition at line 111 of file QwerkInfo.h.
The offsets of the individual LEDs -- except the qwerk board doesn't have any particularly symbolic LEDs, just use numeric values...
Definition at line 83 of file QwerkInfo.h.
- Enumerator:
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LWheelOffset |
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RWheelOffset |
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Definition at line 76 of file QwerkInfo.h.
Function Documentation
Capabilities QwerkInfo::capabilities |
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TargetName |
, |
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NumOutputs |
, |
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outputNames |
, |
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NumButtons |
, |
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buttonNames |
, |
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NumSensors |
, |
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sensorNames |
, |
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PIDJointOffset |
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NumPIDJoints |
, |
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LEDOffset |
, |
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NumLEDs |
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) |
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Variable Documentation
selects all of the leds
Definition at line 89 of file QwerkInfo.h.
Use with kinematics to refer to base reference frame.
Definition at line 74 of file QwerkInfo.h.
Provides a string name for each button.
Definition at line 114 of file QwerkInfo.h.
horizontal field of view (radians)
Definition at line 53 of file QwerkInfo.h.
the number of pixels available in the 'full' layer
Definition at line 56 of file QwerkInfo.h.
the number of pixels available in the 'full' layer
Definition at line 57 of file QwerkInfo.h.
vertical field of view (radians)
Definition at line 54 of file QwerkInfo.h.
Capabilities QwerkInfo::capabilities(TargetName, NumOutputs, outputNames, NumButtons, buttonNames, NumSensors, sensorNames, PIDJointOffset, NumPIDJoints, LEDOffset, NumLEDs) |
This table holds the default PID values for each joint. see PIDMC.
Definition at line 174 of file QwerkInfo.h.
LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
Definition at line 87 of file QwerkInfo.h.
time between frames in the motion system (milliseconds)
Definition at line 25 of file QwerkInfo.h.
The number of joints per leg.
Definition at line 36 of file QwerkInfo.h.
Initial value: {
1e-3,
1e-3,
3.14e-3,
6.28e-3,
0,0,0,0,0,0,0,0,0,0
}
These values are our 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 and PostureMC are primary examples of included classes which do respect these values (although they can be overridden)
These values were obtained from the administrators of the Sony OPEN-R BBS
Definition at line 183 of file QwerkInfo.h.
Initial value:
{
{ -1 , 1 },
{ -1 , 1 },
{ RAD(-90) , RAD(90) },
{ RAD(-90) , RAD(90) },
{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, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).
Same as outputRanges, don't know actual values because they were never specified by Sony
Definition at line 214 of file QwerkInfo.h.
the number of buttons that are available
Definition at line 43 of file QwerkInfo.h.
The number of joints which control the ears (NOT per ear, is total).
Definition at line 42 of file QwerkInfo.h.
The number of face panel LEDs.
Definition at line 46 of file QwerkInfo.h.
the number of frames per buffer (don't forget also double buffered)
Definition at line 26 of file QwerkInfo.h.
The number of joints in the pantilt.
Definition at line 39 of file QwerkInfo.h.
The number of LEDs which can be controlled.
Definition at line 45 of file QwerkInfo.h.
the TOTAL number of joints on ALL legs
Definition at line 38 of file QwerkInfo.h.
the number of joints that control the mouth
Definition at line 41 of file QwerkInfo.h.
servo pins
the total number of outputs
Definition at line 49 of file QwerkInfo.h.
for the base, gripper (* NumArms), and camera reference frames
Definition at line 50 of file QwerkInfo.h.
the number of sensors available
Definition at line 44 of file QwerkInfo.h.
The number of joints assigned to the tail.
Definition at line 40 of file QwerkInfo.h.
Names for each of the outputs.
Definition at line 137 of file QwerkInfo.h.
Initial value:
{
{ -1 , 1 },
{ -1 , 1 },
{ RAD(-90) , RAD(90) },
{ RAD(-90) , RAD(90) },
{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, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange).
Definition at line 200 of file QwerkInfo.h.
The beginning of the PID Joints.
Definition at line 69 of file QwerkInfo.h.
Initial value: {
"BatteryVoltage",
"AnalogIn0",
"AnalogIn1",
"AnalogIn2",
"AnalogIn3",
"AnalogIn4",
"AnalogIn5",
"AnalogIn6",
"AnalogIn7",
}
Provides a string name for each sensor.
Definition at line 121 of file QwerkInfo.h.
the number of milliseconds per sound buffer... I'm not sure if this can be changed
Definition at line 27 of file QwerkInfo.h.
the name of the model, to be used for logging and remote GUIs
Definition at line 55 of file RobotInfo.cc.
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