BioloidInfo.h

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//-*-c++-*-
#ifndef INCLUDED_BioloidInfo_h
#define INCLUDED_BioloidInfo_h

#include <cmath>
#include <stdlib.h>
#include "CommonInfo.h"
using namespace RobotInfo;

// see http://tekkotsu.org/porting.html#configuration for more information on TGT_HAS_* flags
#if defined(TGT_BIOLOID)
#  define TGT_IS_BIOLOID
#  define TGT_HAS_WEBCAM 1
#  ifdef BIOLOID_BEGINNER_KIT
#    define TGT_HAS_LEDS 4
#  else
#    define TGT_HAS_LEDS 18
#  endif
#endif

//! Declares configuration of generic bioloid/dynamixel based robots, such as number of joints, LEDs, etc.
namespace BioloidInfo {

  // *******************************
  //       ROBOT CONFIGURATION
  // *******************************

  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs

  const unsigned int FrameTime=32;        //!< time between frames in the motion system (milliseconds)
  const unsigned int NumFrames=1;        //!< the number of frames per buffer (don't forget also double buffered)
  const unsigned int SoundBufferTime=32; //!< the number of milliseconds per sound buffer... I'm not sure if this can be changed
  
  //!@name Output Types Information
  const unsigned NumWheels      =  0;
  
  const unsigned JointsPerArm   =  0;
  const unsigned NumArms        =  0;
  const unsigned NumArmJoints   =  JointsPerArm*NumArms;
  
  const unsigned JointsPerLeg   =  0; //!< The number of joints per leg
  const unsigned NumLegs        =  0; //!< The number of legs
  const unsigned NumLegJoints   =  JointsPerLeg*NumLegs; //!< the TOTAL number of joints on ALL legs
  const unsigned NumHeadJoints  =  0; //!< The number of joints in the pantilt
  const unsigned NumTailJoints  =  0; //!< The number of joints assigned to the tail
  const unsigned NumMouthJoints =  0; //!< the number of joints that control the mouth
  const unsigned NumEarJoints   =  0; //!< The number of joints which control the ears (NOT per ear, is total)
  const unsigned NumButtons     =  0; //!< the number of buttons that are available
  const unsigned NumSensors     =  2;  //!< the number of sensors available (voltage and temperature)
  const unsigned NumFacePanelLEDs = 0; //!< The number of face panel LEDs

#ifdef BIOLOID_BEGINNER_KIT
  const unsigned NumLEDs        =  4; //!< The number of LEDs which can be controlled (one per dynamixel servo)
  const unsigned NumPIDJoints   = 4 + NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints;; //!< servo pins
#else
  const unsigned NumLEDs        =  18; //!< The number of LEDs which can be controlled (one per dynamixel servo)
  const unsigned NumPIDJoints   = 18 + NumWheels + NumArmJoints + NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints;; //!< servo pins
#endif
  
  const unsigned NumOutputs     = NumWheels + NumPIDJoints + NumLEDs; //!< the total number of outputs
  const unsigned NumReferenceFrames = NumOutputs+1; //!< Since we don't know what the user built, we don't actually know any of the kinematics...

  using namespace Camera75DOF;
  //@}


  // *******************************
  //         OUTPUT OFFSETS
  // *******************************

  //!Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
  //!@name Output Offsets

  
  const unsigned PIDJointOffset = 0; //!< The beginning of the PID Joints
  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

  const unsigned BaseFrameOffset   = NumOutputs; //!< Use with kinematics to refer to base reference frame

  enum WheelOffset_t {
    LWheelOffset=WheelOffset,
    RWheelOffset
  };
  
  //! The offsets of the individual LEDs -- except we don't have any idea what to 'name' the servos in a reconfigurable kit, so this is empty (just add numeric offsets)
  /*! @hideinitializer */
  enum LEDOffset_t { };
  
  typedef unsigned int LEDBitMask_t; //!< So you can be clear when you're refering to a LED bitmask
  //! LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries)
  const LEDBitMask_t FaceLEDMask = 0;
  //! selects all of the leds
  const LEDBitMask_t AllLEDMask  = (LEDBitMask_t)~0;
  //@}


  // *******************************
  //          INPUT OFFSETS
  // *******************************


  //! The order in which inputs should be stored
  //!@name Input Offsets

  //! 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 WorldState::buttons @see ButtonSourceID_t
   * @hideinitializer */
  enum ButtonOffset_t { };

  //! Provides a string name for each button
  const char* const buttonNames[NumButtons+1] = { NULL }; // non-empty array to avoid gcc 3.4.2 internal error

  //! holds offset to different sensor values in WorldState::sensors[]
  /*! @see WorldState::sensors[] */
  enum SensorOffset_t {
    PowerThermoOffset, //!< degrees Celcius
    PowerVoltageOffset, //!< volts
  };

  //! Provides a string name for each sensor
  const char* const sensorNames[NumSensors+1] = {
    "PowerThermo","PowerVoltage", NULL
  };

  //@}


  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    "SERVO:000",
    "SERVO:001",
    "SERVO:002",
    "SERVO:003",
#ifndef BIOLOID_BEGINNER_KIT
    "SERVO:004",
    "SERVO:005",
    "SERVO:006",
    "SERVO:007",
    "SERVO:008",
    "SERVO:009",
    "SERVO:010",
    "SERVO:011",
    "SERVO:012",
    "SERVO:013",
    "SERVO:014",
    "SERVO:015",
    "SERVO:016",
    "SERVO:017",
#endif
    "LED:00000",
    "LED:00001",
    "LED:00002",
    "LED:00003",
#ifndef BIOLOID_BEGINNER_KIT
    "LED:00004",
    "LED:00005",
    "LED:00006",
    "LED:00007",
    "LED:00008",
    "LED:00009",
    "LED:00010",
    "LED:00011",
    "LED:00012",
    "LED:00013",
    "LED:00014",
    "LED:00015",
    "LED:00016",
    "LED:00017",
#endif
    "BaseFrame",
    NULL
  };
  
  //! allocation declared in RobotInfo.cc
  extern const Capabilities capabilities;
  
  //! offsets into DefaultPIDs, since Dynamixel servos don't actually use PID control, but a different set of parameters
  enum ServoParam_t {
    DYNAMIXEL_SLOPE=0, //!< compliance slope, the proportional control (P in PID)
    DYNAMIXEL_PUNCH, //!< punch, a constant added to the slope once error exceeds compliance margin
    DYNAMIXEL_MARGIN //!< compliance margin, the amount of error to tolerate before triggering a torque response
  };
  
  //! Dynamixel servos don't use PID control.  Instead, these values indicate compliance slope (P), punch (add to P*error), compliance margin (min error to start applying torque) (see ServoParam_t)
  /*! I believe the torque calculation goes something like: torque = (error<compliance) ? 0 : punch + P*error
   *  Dynamixel servos allow different values to be supplied for CW vs. CCW motion, but we just use the same value for each */
  const float DefaultPIDs[NumPIDJoints][3] = {
    {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, 
#ifndef BIOLOID_BEGINNER_KIT
    {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0},
#endif
  };
  
  //!These values are our recommended maximum joint velocities, in rad/ms
  /*! a value <= 0 means infinite speed (e.g. LEDs)
   *  
   *  These limits are <b>not</b> 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 */
  const float MaxOutputSpeed[NumOutputs] = {
    // servos
    0,0,0,0,
#ifndef BIOLOID_BEGINNER_KIT
    0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,
#endif
    // leds
    0,0,0,0,
#ifndef BIOLOID_BEGINNER_KIT
    0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,
#endif
  };

  #ifndef RAD
    //!Just a little macro for converting degrees to radians
  #define RAD(deg) (((deg) * (float)M_PI ) / 180.0f)
    //!a flag so we undef these after we're done - do you have a cleaner solution?
  #define __RI_RAD_FLAG
  #endif
  
  //! 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)
  const float outputRanges[NumOutputs][2] = {
    // servos
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, 
#ifndef BIOLOID_BEGINNER_KIT
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)},
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)},
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)},
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, 
#endif

    // LED
    {0,1}, {0,1}, {0,1}, {0,1},
#ifndef BIOLOID_BEGINNER_KIT
    {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},
#endif
  };

  //! 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 */
  const float mechanicalLimits[NumOutputs][2] = {
    // servos
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, 
#ifndef BIOLOID_BEGINNER_KIT
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)},
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)},
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)},
    {RAD(-150),RAD(150)}, {RAD(-150),RAD(150)}, 
#endif
    
    // LED
    {0,1}, {0,1}, {0,1}, {0,1},
#ifndef BIOLOID_BEGINNER_KIT
    {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},
#endif
  };

#ifdef __RI_RAD_FLAG
#undef RAD
#undef __RI_RAD_FLAG
#endif
}

/*! @file
 * @brief Defines some capabilities common to generic bioloid/dynamixel based robots
 * @author ejt (Creator)
 */

#endif