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ERS2xxInfo.h Go to the documentation of this file. //-*-c++-*- // Mad props to Daishi MORI, the 220 master chief, for porting to the 220 ;) #ifndef INCLUDED_ERS2xxInfo_h #define INCLUDED_ERS2xxInfo_h #include "CommonERSInfo.h" #include "ERS210Info.h" #include "ERS220Info.h" #include <iostream> // see http://tekkotsu.org/porting.html#configuration for more information on TGT_HAS_* flags #if defined(TGT_ERS2xx) # define TGT_HAS_LEDS 22 # define TGT_HAS_BUTTONS 11 # define TGT_HAS_IR_DISTANCE 1 #endif //! Contains information about the ERS-2xx series of robot, such as number of joints, PID defaults, timing information, etc. /*! This is a compatability mode, which allows dual-booting * of the same memory stick on both models without needing * to recompile, at the expense of (a little) runtime speed. */ namespace ERS2xxInfo { // ******************************* // ROBOT CONFIGURATION // ******************************* extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs const unsigned int FrameTime=8; //!< time between frames in the motion system (milliseconds) const unsigned int NumFrames=4; //!< the number of frames per buffer (don't forget also double buffered) 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) const unsigned int NumSlowFrames=1; //!< the number of frames per buffer being sent to ears (double buffered as well) const unsigned int SoundBufferTime=32; //!< the number of milliseconds per sound buffer... I'm not sure if this can be changed //!Corresponds to entries in ERS2xxInfo::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 */ //!@name Output Types Information const unsigned NumWheels = 0; //!< no wheels, just legs const unsigned JointsPerArm = 0; //!< no arms, just legs const unsigned NumArms = 0; //!< no arms, just legs const unsigned NumArmJoints = JointsPerArm*NumArms; const unsigned JointsPerLeg = 3; //!< The number of joints per leg const unsigned NumLegs = 4; //!< The number of legs const unsigned NumLegJoints = JointsPerLeg*NumLegs; //!< the TOTAL number of joints on ALL legs const unsigned NumHeadJoints = 3; //!< The number of joints in the neck const unsigned NumTailJoints = 2; //!< The number of joints assigned to the tail const unsigned NumMouthJoints = 1; //!< the number of joints that control the mouth const unsigned NumEarJoints = 2; //!< The number of joints which control the ears (NOT per ear, is total) const unsigned NumButtons = 11; //!< the number of buttons that are available, see ERS2xxInfo::ButtonOffset_t const unsigned NumSensors = 1+3+1+5; //!< 1 dist, 3 accel, 1 thermo, 5 from power, see ERS2xxInfo::SensorOffset_t const unsigned NumLEDs = 22; //!< The number of LEDs which can be controlled const unsigned NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints; //!< The number of joints which use PID motion - everything except ears const unsigned NumBinJoints = NumEarJoints; //!< The number of binary joints - just the ears (Aperios only) const unsigned NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs; //!< the total number of outputs const unsigned NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 1; //!< for the base, paw, camera, and IR sensor reference frames const float CameraHorizFOV=57.6/180*M_PI; //!< horizontal field of view (radians) const float CameraVertFOV=47.8/180*M_PI; //!< vertical field of view (radians) const float CameraFOV=CameraHorizFOV; //!< should be set to maximum of #CameraHorizFOV or #CameraVertFOV const unsigned int CameraResolutionX=176; //!< the number of pixels available in the 'full' layer const unsigned int CameraResolutionY=144; //!< the number of pixels available in the 'full' layer const float BallOfFootRadius=27.922/2; //!< radius of the ball of the foot const float CylinderOfFootRadius=24.606/2; //!< radius of the cylinder of the foot //! true for joints which can be updated every 32 ms (all but the ears on a 210) const bool IsFastOutput[NumOutputs] = { // for PID joints true, true, true, //legs true, true, true, true, true, true, true, true, true, true, true, true, //head true, true, //tail true, //mouth // for LEDs true, true, true, // face left side LEDs x3 true, true, true, // face right side LEDs x3 true, // head mode LED x1 true, true, true, // back left multi LEDs x3 true, true, true, // back right multi LEDs x3 true, true, true, // tail LEDs x3 true, true, true, // face front LEDs x3 true, // retractable head light x1 true, true, // tail red/blue from 210 // for binary joints false, false }; // ******************************* // OUTPUT OFFSETS // ******************************* //!Corresponds to entries in ERS2xxInfo::PrimitiveName, defined at the end of this file //!@name Output Offsets const unsigned PIDJointOffset = 0; //!< The beginning of the PID Joints const unsigned LegOffset = PIDJointOffset; //!< the offset of the beginning of the leg joints const unsigned HeadOffset = LegOffset+NumLegJoints; //!< the offset of the beginning of the head joints const unsigned TailOffset = HeadOffset+NumHeadJoints; //!< the offset of the beginning of the tail joints const unsigned MouthOffset = TailOffset+NumTailJoints; //!< the offset of the beginning of the mouth joint const unsigned LEDOffset = PIDJointOffset + NumPIDJoints; //!< the offset of LEDs in WorldState::outputs and MotionCommand functions const unsigned BinJointOffset = LEDOffset+NumLEDs; //!< The beginning of the binary joints 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 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) const unsigned CameraFrameOffset = PawFrameOffset+NumLegs; //!< Use with kinematics to refer to camera reference frame const unsigned IRFrameOffset = CameraFrameOffset+1; //!< Use with kinematics to refer to infrared (distance) sensor reference frame //! the ordering of legs enum LegOrder_t { LFrLegOrder = 0, //!< left front leg RFrLegOrder, //!< right front leg LBkLegOrder, //!< left back leg RBkLegOrder //!< right back leg }; //! 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) enum REKOffset_t { RotatorOffset=0, //!< moves leg forward or backward along body ElevatorOffset, //!< moves leg toward or away from body KneeOffset //!< moves knee }; //! 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) enum TPROffset_t { TiltOffset = 0, //!< tilt/elevation (vertical) PanOffset, //!< pan/heading (horizontal) RollOffset, //!< roll (rotational) NodOffset=RollOffset //!< nod (second tilt) }; //! The offsets of the individual legs enum LegOffset_t { LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, //!< beginning of left front leg RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, //!< beginning of right front leg LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, //!< beginning of left back leg RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg //!< beginning of right back leg }; //@} //! 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 enum LEDOffset_t { FaceFrontLeftLEDOffset = LEDOffset, //!< head face side light (front left - blue) (ERS-220) FaceFrontRightLEDOffset, //!< head face side light (front right - blue) (ERS-220) FaceCenterLeftLEDOffset, //!< head face side light (center left - blue) (ERS-220) FaceCenterRightLEDOffset, //!< head face side light (center right - blue) (ERS-220) FaceBackLeftLEDOffset, //!< head face side light (back left - red) (ERS-220) FaceBackRightLEDOffset, //!< head face side light (back right - red) (ERS-220) ModeLEDOffset, //!< mode indicator (back of the head - orange) (ERS-220) BackLeft1LEDOffset, //!< back multi-indicator (left #1 - blue) (ERS-220) BackLeft2LEDOffset, //!< back multi-indicator (left #2 - blue) (ERS-220) BackLeft3LEDOffset, //!< back multi-indicator (left #3 - blue) (ERS-220) BackRight3LEDOffset, //!< back multi-indicator (right #3 - blue) (ERS-220) BackRight2LEDOffset, //!< back multi-indicator (right #2 - blue) (ERS-220) BackRight1LEDOffset, //!< back multi-indicator (right #1 - blue) (ERS-220) TailLeftLEDOffset, //!< tail light (left - blue) (ERS-220) TailCenterLEDOffset, //!< tail light (center - red) (ERS-220) TailRightLEDOffset, //!< tail light (right - blue) (ERS-220) FaceFrontBLEDOffset, //!< face front light B (blue) (ERS-220) FaceFrontALEDOffset, //!< face front light A (blue) (ERS-220) FaceFrontCLEDOffset, //!< face front light C (red) (ERS-220) RetractableHeadLEDOffset, //!< retractable head light (ERS-220) TlBluLEDOffset, //!< blue tail light (ERS-210) TlRedLEDOffset, //!< red tail light (ERS-210) // aliases for backward compatibility BotLLEDOffset = FaceFrontLeftLEDOffset, //!< bottom left (red - sad) (ERS-210) BotRLEDOffset = FaceFrontRightLEDOffset, //!< bottom right (red - sad) (ERS-210) MidLLEDOffset = FaceCenterLeftLEDOffset, //!< middle left (green - happy) (ERS-210) MidRLEDOffset = FaceCenterRightLEDOffset, //!< middle right (green - happy) (ERS-210) TopLLEDOffset = FaceBackLeftLEDOffset, //!< top left (red - angry) (ERS-210) TopRLEDOffset = FaceBackRightLEDOffset, //!< top right (red - angry) (ERS-210) TopBrLEDOffset = ModeLEDOffset, //!< top bar (green) (ERS-210) }; //! Bitmasks for use when specifying combinations of LEDs (see LEDEngine ) Note that left/right are robot's point of view //!@name LED Bitmasks typedef unsigned int LEDBitMask_t; //!< So you can be clear when you're refering to a LED bitmask 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 TlRedLEDMask= 1<<(TlRedLEDOffset-LEDOffset); //!< red tail light const LEDBitMask_t TlBluLEDMask= 1<<(TlBluLEDOffset-LEDOffset); //!< blue tail light // aliases for backward compatibility const LEDBitMask_t BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset); //!< bottom left (red - sad) const LEDBitMask_t BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset); //!< bottom right (red - sad) const LEDBitMask_t MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset); //!< middle left (green - happy) const LEDBitMask_t MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset); //!< middle right (green - happy) const LEDBitMask_t TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset); //!< top left (red - angry) const LEDBitMask_t TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset); //!< top right (red - angry) const LEDBitMask_t TopBrLEDMask= 1<<(TopBrLEDOffset-LEDOffset); //!< top bar (green) //! LEDs for face const LEDBitMask_t FaceLEDMask = FaceFrontLeftLEDMask | FaceFrontRightLEDMask | FaceCenterLeftLEDMask | FaceCenterRightLEDMask | FaceBackLeftLEDMask | FaceBackRightLEDMask | FaceFrontALEDMask | FaceFrontBLEDMask | FaceFrontCLEDMask | ModeLEDMask; //! LEDs on head (face plus retractable light) const LEDBitMask_t HeadLEDMask = FaceLEDMask | RetractableHeadLEDMask; //! LEDs on back const LEDBitMask_t BackLEDMask = BackLeft1LEDMask | BackLeft2LEDMask | BackLeft3LEDMask | BackRight1LEDMask | BackRight2LEDMask | BackRight3LEDMask; //! LEDs for tail const LEDBitMask_t TailLEDMask = TailLeftLEDMask | TailCenterLEDMask | TailRightLEDMask | TlRedLEDMask | TlBluLEDMask; //! 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 */ enum ButtonOffset_t { LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder, ChinButOffset= 4, BackButOffset, HeadFrButOffset, //!< see ERS210Info::HeadFrButOffset, ERS220Info::HeadFrButOffset HeadButOffset=HeadFrButOffset, //!< for ERS-7 compatibility HeadBkButOffset, //!< see ERS210Info::HeadBkButOffset, ERS220Info::HeadBkButOffset TailLeftButOffset, TailCenterButOffset, TailRightButOffset, }; //! Provides a string name for each button const char* const buttonNames[NumButtons] = { "LFrPaw","RFrPaw","LBkPaw","RBkPaw", "ChinBut","BackBut","HeadFrBut","HeadBkBut", "TailLeftBut","TailCenterBut","TailRightBut" }; //! holds offset to different sensor values in WorldState::sensors[] /*! @see WorldState::sensors[] */ enum SensorOffset_t { IRDistOffset = 0, //!< in millimeters BAccelOffset, //!< backward acceleration, in @f$m/s^2@f$, negative if sitting on butt (positive for faceplant) LAccelOffset, //!< acceleration to the robot's left, in @f$m/s^2@f$, negative if lying on robot's left side DAccelOffset, //!< downward acceleration, in @f$m/s^2@f$, 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?) }; //! Provides a string name for each sensor const char* const sensorNames[NumSensors] = { "IRDist", "BAccel","LAccel","DAccel", "Thermo", "PowerRemain","PowerThermo","PowerCapacity","PowerVoltage","PowerCurrent" }; //@} //! Names for each of the outputs const char* const outputNames[NumOutputs] = { "LFr:rotor", "LFr:elvtr", "LFr:knee", "RFr:rotor", "RFr:elvtr", "RFr:knee", "LBk:rotor", "LBk:elvtr", "LBk:knee", "RBk:rotor", "RBk:elvtr", "RBk:knee", "NECK:tilt", "NECK:pan", "NECK:roll", "TAIL:tilt", "TAIL:pan", "MOUTH", "LED:botL", "LED:botR", "LED:midL", "LED:midR", "LED:topL", "LED:topR", "LED:topBr", "LED:bkL1", // "LED:tlBlu" of ERS-210 "LED:bkL2", // "LED:tlRed" of ERS-210 "LED:bkL3", "LED:bkR3", "LED:bkR2", "LED:bkR1", "LED:tailL", "LED:tailC", "LED:tailR", "LED:faceB", "LED:faceA", "LED:faceC", "LED:light", // retractable head light "LED:tlRed", "LED:tlBlu", "EAR:left", "EAR:right" }; //! provides polymorphic robot capability detection/mapping class ERS2xxCapabilities : public Capabilities { public: //! constructor ERS2xxCapabilities() : Capabilities(TargetName,NumOutputs,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs) { // ers-7 button alias buttonToIndex["HeadBut"]=HeadButOffset; #ifdef TGT_ERS2xx if(detectModel() == ERS210Info::TargetName) { fakeOutputs.insert(BackLeft1LEDOffset); fakeOutputs.insert(BackLeft2LEDOffset); fakeOutputs.insert(BackLeft3LEDOffset); fakeOutputs.insert(BackRight3LEDOffset); fakeOutputs.insert(BackRight2LEDOffset); fakeOutputs.insert(BackRight1LEDOffset); fakeOutputs.insert(TailLeftLEDOffset); fakeOutputs.insert(TailCenterLEDOffset); fakeOutputs.insert(TailRightLEDOffset); fakeOutputs.insert(FaceFrontBLEDOffset); fakeOutputs.insert(FaceFrontALEDOffset); fakeOutputs.insert(FaceFrontCLEDOffset); fakeOutputs.insert(RetractableHeadLEDOffset); } else if(detectModel() == ERS220Info::TargetName) { for(unsigned int i=TailOffset; i<TailOffset+NumTailJoints; ++i) fakeOutputs.insert(i); for(unsigned int i=MouthOffset; i<MouthOffset+NumMouthJoints; ++i) fakeOutputs.insert(i); fakeOutputs.insert(TlBluLEDOffset); fakeOutputs.insert(TlRedLEDOffset); for(unsigned int i=EarOffset; i<EarOffset+NumEarJoints; ++i) fakeOutputs.insert(i);