ERS220Info Namespace Reference
Detailed Description
Contains information about the ERS-220 Robot, such as number of joints, PID defaults, timing information, etc.
|
Classes |
class | ERS220Capabilities |
| provides polymorphic robot capability detection/mapping More...
|
Output Offsets |
Corresponds to entries in ERS220Info::PrimitiveName, defined at the end of this file
|
enum | LegOrder_t { LFrLegOrder = 0,
RFrLegOrder,
LBkLegOrder,
RBkLegOrder
} |
| the ordering of legs More...
|
enum | REKOffset_t { RotatorOffset = 0,
ElevatorOffset,
KneeOffset
} |
| The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's). More...
|
enum | TPROffset_t { TiltOffset = 0,
PanOffset,
RollOffset,
NodOffset = RollOffset
} |
| The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's). More...
|
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.
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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.
|
const unsigned | BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame.
|
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,
HeadButOffset = 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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const char *const | sensorNames [NumSensors] |
| Provides a string name for each sensor.
|
LED Bitmasks |
Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view
|
const LEDBitMask_t | FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset) |
const LEDBitMask_t | FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset) |
const LEDBitMask_t | FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset) |
const LEDBitMask_t | FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset) |
const LEDBitMask_t | FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset) |
const LEDBitMask_t | FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset) |
const LEDBitMask_t | ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset) |
const LEDBitMask_t | BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset) |
const LEDBitMask_t | BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset) |
const LEDBitMask_t | BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset) |
const LEDBitMask_t | BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset) |
const LEDBitMask_t | BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset) |
const LEDBitMask_t | BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset) |
const LEDBitMask_t | TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset) |
const LEDBitMask_t | TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset) |
const LEDBitMask_t | TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset) |
const LEDBitMask_t | FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset) |
const LEDBitMask_t | FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset) |
const LEDBitMask_t | FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset) |
const LEDBitMask_t | RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset) |
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 = FaceLEDMask | RetractableHeadLEDMask |
| 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 = (LEDBitMask_t)~0 |
| selects all of the leds
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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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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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Variables |
const char *const | TargetName = "ERS-220" |
| the name of the model, to be used for logging and remote GUIs
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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 char *const | outputNames [NumOutputs] |
| Names for each of the outputs.
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ERS220Capabilities | capabilities |
| allocation declared in RobotInfo.cc
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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.
|
|
Corresponds to entries in ERS220Info::PrimitiveName, defined at the end of this file, these are the primary grouping
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
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const unsigned | NumWheels = 0 |
| no wheels, just legs
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const unsigned | JointsPerArm = 0 |
| no arms, just legs
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const unsigned | NumArms = 0 |
| no arms, just legs
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const unsigned | NumArmJoints = JointsPerArm*NumArms |
| no wheels, just legs
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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) (Aperios only).
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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 float | CameraHorizFOV = 57.6/180*M_PI |
| horizontal field of view (radians)
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const float | CameraVertFOV = 47.8/180*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 = 176 |
| the number of pixels available in the 'full' layer
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const unsigned int | CameraResolutionY = 144 |
| the number of pixels available in the 'full' layer
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const float | BallOfFootRadius = 27.922/2 |
| radius of the ball of the foot
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const float | CylinderOfFootRadius = 24.606/2 |
| radius of the cylinder of the foot
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const bool | IsFastOutput [NumOutputs] |
| true for joints which can be updated every 32 ms (true for all)
|
|
values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS220Info::PrimitiveName |
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 |
Typedef Documentation
So you can be clear when you're refering to a LED bitmask.
Definition at line 177 of file ERS220Info.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
- Enumerator:
-
LFrPawOffset |
|
RFrPawOffset |
|
LBkPawOffset |
|
RBkPawOffset |
|
ChinButOffset |
|
BackButOffset |
|
HeadFrButOffset |
for the "antenna" - this is <.2 if pushed back all the way |
HeadButOffset |
for ERS-7 compatibility |
HeadBkButOffset |
for the "antenna" - this is >.98 if pulled forward, <.2 if pushed back partly |
TailLeftButOffset |
|
TailCenterButOffset |
|
TailRightButOffset |
|
Definition at line 265 of file ERS220Info.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.
- Enumerator:
-
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 141 of file ERS220Info.h.
The offsets of the individual legs.
- Enumerator:
-
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 131 of file ERS220Info.h.
the ordering of legs
- Enumerator:
-
LFrLegOrder |
left front leg |
RFrLegOrder |
right front leg |
LBkLegOrder |
left back leg |
RBkLegOrder |
right back leg |
Definition at line 108 of file ERS220Info.h.
The offsets within appendages (the legs) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the head's TPROffset_t's).
- Enumerator:
-
RotatorOffset |
moves leg forward or backward along body |
ElevatorOffset |
moves leg toward or away from body |
KneeOffset |
moves knee |
Definition at line 116 of file ERS220Info.h.
holds offset to different sensor values in WorldState::sensors[]
- See also:
- WorldState::sensors[]
- Enumerator:
-
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 289 of file ERS220Info.h.
The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head) Note that the ordering matches the actual physical ordering of joints on the appendage (and not that of the leg's REKOffset_t's).
- Enumerator:
-
TiltOffset |
tilt/elevation (vertical) |
PanOffset |
pan/heading (horizontal) |
RollOffset |
roll (rotational) |
NodOffset |
nod (second tilt) |
Definition at line 123 of file ERS220Info.h.
Variable Documentation
radius of the ball of the foot
Definition at line 62 of file ERS220Info.h.
Use with kinematics to refer to base reference frame.
Definition at line 102 of file ERS220Info.h.
The beginning of the binary joints.
Definition at line 100 of file ERS220Info.h.
Initial value: {
"LFrPaw","RFrPaw","LBkPaw","RBkPaw",
"ChinBut","BackBut","HeadFrBut","HeadBkBut",
"TailLeftBut","TailCenterBut","TailRightBut"
}
Provides a string name for each button.
Definition at line 281 of file ERS220Info.h.
Referenced by EmergencyStopMC::trigger().
Use with kinematics to refer to camera reference frame.
Definition at line 104 of file ERS220Info.h.
horizontal field of view (radians)
Definition at line 57 of file ERS220Info.h.
use to open camera connection with the system
Definition at line 432 of file ERS220Info.h.
the number of pixels available in the 'full' layer
Definition at line 60 of file ERS220Info.h.
the number of pixels available in the 'full' layer
Definition at line 61 of file ERS220Info.h.
vertical field of view (radians)
Definition at line 58 of file ERS220Info.h.
radius of the cylinder of the foot
Definition at line 63 of file ERS220Info.h.
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 460 of file ERS220Info.h.
These will control the shift values given to the system. see PIDMC.
Definition at line 486 of file ERS220Info.h.
time between frames in the motion system (milliseconds)
Definition at line 26 of file ERS220Info.h.
LEDs on head (face plus retractable light).
Definition at line 225 of file ERS220Info.h.
the offset of the beginning of the head joints
Definition at line 96 of file ERS220Info.h.
Use with kinematics to refer to infrared (distance) sensor reference frame.
Definition at line 105 of file ERS220Info.h.
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 (true for all)
Definition at line 66 of file ERS220Info.h.
The number of joints per leg.
Definition at line 41 of file ERS220Info.h.
the offset of the beginning of the leg joints
Definition at line 95 of file ERS220Info.h.
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 493 of file ERS220Info.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(-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 549 of file ERS220Info.h.
The number of binary joints - just the ears (which the 220 doesn't have) (Aperios only).
Definition at line 53 of file ERS220Info.h.
The number of joints which control the ears (NOT per ear, is total).
Definition at line 47 of file ERS220Info.h.
the number of frames per buffer (don't forget also double buffered)
Definition at line 27 of file ERS220Info.h.
The number of joints in the neck.
Definition at line 44 of file ERS220Info.h.
The number of LEDs which can be controlled.
Definition at line 50 of file ERS220Info.h.
the TOTAL number of joints on ALL legs
Definition at line 43 of file ERS220Info.h.
the number of joints that control the mouth
Definition at line 46 of file ERS220Info.h.
the total number of outputs
Definition at line 54 of file ERS220Info.h.
The number of joints which use PID motion - everything.
Definition at line 52 of file ERS220Info.h.
for the base, paw, camera, and IR sensor reference frames
Definition at line 55 of file ERS220Info.h.
the number of frames per buffer being sent to ears (double buffered as well)
Definition at line 29 of file ERS220Info.h.
The number of joints assigned to the tail.
Definition at line 45 of file ERS220Info.h.
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 529 of file ERS220Info.h.
Use with kinematics to refer to paw reference frames (add appropriate LegOrder_t to specify which paw).
Definition at line 103 of file ERS220Info.h.
The beginning of the PID Joints.
Definition at line 94 of file ERS220Info.h.
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 384 of file ERS220Info.h.
Initial value: {
"IRDist",
"BAccel","LAccel","DAccel",
"Thermo",
"PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent"
}
Provides a string name for each sensor.
Definition at line 303 of file ERS220Info.h.
time between frames for the ears (which move slower for some reason, don't want to mix with other outputs) (milliseconds)
Definition at line 28 of file ERS220Info.h.
the number of milliseconds per sound buffer... I'm not sure if this can be changed
Definition at line 30 of file ERS220Info.h.
use to open speaker connectio with the system
Definition at line 429 of file ERS220Info.h.
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