Tekkotsu Homepage

Demos

Overview

Downloads

Dev. Resources

Reference

Credits

ERS7Info.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_ERS7Info_h #define INCLUDED_ERS7Info_h #include "Shared/CommonERSInfo.h" // see http://tekkotsu.org/porting.html#configuration for more information on TGT_HAS_* flags #if defined(TGT_ERS7) # define TGT_HAS_LEDS 27 # define TGT_HAS_BUTTONS 10 # define TGT_HAS_IR_DISTANCE 3 #endif //! Contains information about the ERS-7 Robot, such as number of joints, PID defaults, timing information, etc. /*! You may be particularly interested in the "Output Offsets" section, which, along with the offsets of the common RobotInfo namespace, allows you to reference any specific joint or LED on the robot. The "Input Offsets" section gives the index order of the buttons (#ButtonOffset_t) and sensors (#SensorOffset_t), as well as string names for each for easier debugging (#buttonNames, #sensorNames) "Output Types" section provides "meta-information" regarding the capabilities of the robot, such as the number of head joints, or the number of LEDs, etc. For more information on your robot's specifications, see also #DefaultPIDs, #MaxOutputSpeed, #outputRanges, and #mechanicalLimits. "Outputs" (i.e. Joints, LEDs) are often refered to by index ("offset") value within an array. These values are formed by specifying a @e section offset, plus a @e specific offset. Sections are typically general across robot models, whereas the specifics are model-dependent (but can be aliased to provide compatability). For most joints, the positive direction is "up", and the 0 position yields a forward looking, fully extended standing posture. - {L,R}{FrBk}LegOffset - #NumLegs combinations, each with #JointsPerLeg items, add REKOffset_t; see also LegOffset_t - + #RotatorOffset: positive moves "out", away from body - + #ElevatorOffset: positive moves up, away from body - + #KneeOffset: positive bends knee (slight negative possible) - #HeadOffset - #NumHeadJoints items, add #TPROffset_t: - + #TiltOffset: positive looks up - + #PanOffset: positive looks left - + #NodOffset: positive looks up - #TailOffset - #NumTailJoints items, add #TPROffset_t: - + #TiltOffset: positive raises the joint (lowers the tail itself) - + #PanOffset: positive points the tail to the Aibo's right - MouthOffset - #NumMouthJoints items (no specific, only 1 joint) - LEDs: #NumLEDs items, see #LEDOffset_t; these are all direct offsets, and do not need to be added to anything else - #EarOffset - #NumEarJoints items (no specifics, first is left ear, second is right ear) It happens that these joints can also be grouped by the @e type of joint, so there are additionally a few other offsets that can be used in order to loop across a group of joints: - PIDJointOffset - #NumPIDJoints items, servos using PID control - LegOffset - #NumLegJoints items, a subset of PID servos corresponding to the leg joints - LEDOffset - #NumLEDs items - BinJointOffset - #NumBinJoints items, solenoids, such as the ears (if any) which flip between two positions - #NumOutputs - total number of outputs available LEDs are often handled in groups to display patterns. Some functions take an LEDBitMask_t parameter, which allows you to specify a set of several LEDs in a single parameter. For any given LED offset @c fooLEDOffset, the corresponding bitmask constant is @c fooLEDMask. Alternatively, you could calculate the bitmask of @c fooLEDOffset by <code>1&lt;&lt;(fooLEDOffset-LEDOffset)</code>. @see <a href="../media/TekkotsuQuickReference_ERS7.pdf">ERS-7 Quick Reference Sheet</a> */ namespace ERS7Info { // ******************************* // 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=8; //!< time between frames for the ears (ERS-7 doesn't seem to have any "slow" joints; this only applied for the ears on the ERS-210) const unsigned int NumSlowFrames=4; //!< 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 ERS7Info::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 = 2+4+3+1; //!< the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t const unsigned NumSensors = 3+3+5; //!< 3 IR (distance), 3 accel (force), 5 from power, see ERS7Info::SensorOffset_t const unsigned NumLEDs = 27; //!< The number of LEDs which can be controlled const unsigned NumFacePanelLEDs = 14; //!< The number of face panel LEDs 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 const unsigned NumOutputs = NumPIDJoints + NumBinJoints + NumLEDs; //!< the total number of outputs const unsigned NumReferenceFrames = NumOutputs + 1 + NumLegs + 1 + 3; //!< for the base, paws (NumLegs), camera, and IR sensors (3) reference frames const float CameraHorizFOV=56.9/180*M_PI; //!< horizontal field of view (radians) const float CameraVertFOV=45.2/180*M_PI; //!< vertical field of view (radians) const float CameraFOV=CameraHorizFOV; //!< should be set to maximum of #CameraHorizFOV or #CameraVertFOV const unsigned int CameraResolutionX=208; //!< the number of pixels available in the 'full' layer const unsigned int CameraResolutionY=160; //!< the number of pixels available in the 'full' layer const float BallOfFootRadius=23.433/2; //!< radius of the ball of the foot //! true for joints which can be updated every 32 ms (all joints on ERS-7) /*! @hideinitializer */ const bool IsFastOutput[NumOutputs] = { true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true, //PID joints 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, //leds true,true //ears }; //@} // ******************************* // 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 LegOffset = PIDJointOffset; //!< the offset of the beginning of the leg joints, #NumLegs of #JointsPerLeg each, in #LegOrder_t order; see #LegOffset_t const unsigned HeadOffset = LegOffset+NumLegJoints; //!< the offset of the beginning of the head joints, add #TPROffset_t to get specific joint const unsigned TailOffset = HeadOffset+NumHeadJoints; //!< the offset of the beginning of the tail joints, add #TPROffset_t to get specific joint (except RollOffset not available) const unsigned MouthOffset = TailOffset+NumTailJoints; //!< the offset of the beginning of the mouth joint, is specific joint const unsigned LEDOffset = PIDJointOffset + NumPIDJoints; //!< the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets 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. 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 NearIRFrameOffset = CameraFrameOffset+1; //!< Use with kinematics to refer to short-range infrared (distance) sensor reference frame const unsigned FarIRFrameOffset = NearIRFrameOffset+1; //!< Use with kinematics to refer to long-range infrared (distance) sensor reference frame const unsigned ChestIRFrameOffset = FarIRFrameOffset+1; //!< Use with kinematics to refer to chest-mounted 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, add #REKOffset_t value to access specific joint /*! @hideinitializer */ enum LegOffset_t { LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, //!< beginning of left front leg's joints RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, //!< beginning of right front leg's joints LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, //!< beginning of left back leg's joints RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg //!< beginning of right back leg's joints }; //! 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 /*! @hideinitializer */ enum LEDOffset_t { HeadColorLEDOffset = LEDOffset, //!< the orange LED immediately above the head button (copositioned with #HeadWhiteLEDOffset) HeadWhiteLEDOffset, //!< the LED immediately above the head button (copositioned with #HeadColorLEDOffset) ModeRedLEDOffset, //!< controls both of the red LEDs above the ears (copositioned with #ModeGreenLEDOffset and #ModeBlueLEDOffset) ModeGreenLEDOffset, //!< controls both of the green LEDs above the ears (copositioned with #ModeRedLEDOffset and #ModeBlueLEDOffset) ModeBlueLEDOffset, //!< controls both of the blue LEDs above the ears (copositioned with #ModeRedLEDOffset and #ModeGreenLEDOffset) WirelessLEDOffset, //!< controls the small rectangular blue LED on the back of the head FaceLEDPanelOffset, //!< the first LED in the panel - add 0 up to (not including) #NumFacePanelLEDs to this to access specific face panel LEDs, see LedEngine for diagram of placement FrBackColorLEDOffset = FaceLEDPanelOffset+NumFacePanelLEDs, //!< @b blue/purple LED on back, closest to head (copositioned with #FrBackWhiteLEDOffset) FrBackWhiteLEDOffset, //!< white LED on back, closest to head (copositioned with #FrBackColorLEDOffset) MdBackColorLEDOffset, //!< @b orange LED on back, in between FrBackColorLEDOffset and RrBackColorLEDOffset (copositioned with #MdBackWhiteLEDOffset) MdBackWhiteLEDOffset, //!< white LED on back, in between FrBackWhiteLEDOffset and RrBackWhiteLEDOffset (copositioned with #MdBackColorLEDOffset) RrBackColorLEDOffset, //!< @b red LED on back, farthest from head (copositioned with #RrBackWhiteLEDOffset) RrBackWhiteLEDOffset, //!< white LED on back, farthest from head (copositioned with #RrBackColorLEDOffset) LEDABModeOffset, // allows you to control A/B mode setting (this is a "virtual" LED) // aliases for 2xx cross-compatibility BotLLEDOffset = FaceLEDPanelOffset+1,//!< aliases for backward compatability with ERS-210 (use mode A); bottom left of face panel BotRLEDOffset = FaceLEDPanelOffset+0, //!< aliases for backward compatability with ERS-210 (use mode A); bottom right of face panel MidLLEDOffset = FaceLEDPanelOffset+3, //!< aliases for backward compatability with ERS-210 (use mode A); middle left of face panel MidRLEDOffset = FaceLEDPanelOffset+2, //!< aliases for backward compatability with ERS-210 (use mode A); middle right of face panel TopLLEDOffset = FaceLEDPanelOffset+7, //!< aliases for backward compatability with ERS-210 (use mode A); top left of face panel TopRLEDOffset = FaceLEDPanelOffset+6, //!< aliases for backward compatability with ERS-210(use mode A); top right of face panel TopBrLEDOffset= HeadColorLEDOffset,//!< aliases for backward compatability with ERS-210 (use mode A); top bar (#HeadColorLEDOffset) TlRedLEDOffset= RrBackColorLEDOffset,//!< aliases for backward compatability with ERS-210; red tail light (#RrBackColorLEDOffset) TlBluLEDOffset= FrBackColorLEDOffset //!< aliases for backward compatability with ERS-210; blue tail light (#FrBackColorLEDOffset) }; //@} //! 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 HeadColorLEDMask = 1<<(HeadColorLEDOffset-LEDOffset); //!< mask corresponding to HeadColorLEDOffset const LEDBitMask_t HeadWhiteLEDMask = 1<<(HeadWhiteLEDOffset-LEDOffset); //!< mask corresponding to HeadWhiteLEDOffset const LEDBitMask_t ModeRedLEDMask = 1<<(ModeRedLEDOffset-LEDOffset); //!< mask corresponding to ModeRedLEDOffset const LEDBitMask_t ModeGreenLEDMask = 1<<(ModeGreenLEDOffset-LEDOffset); //!< mask corresponding to ModeGreenLEDOffset const LEDBitMask_t ModeBlueLEDMask = 1<<(ModeBlueLEDOffset-LEDOffset); //!< mask corresponding to ModeBlueLEDOffset const LEDBitMask_t WirelessLEDMask = 1<<(WirelessLEDOffset-LEDOffset); //!< mask corresponding to WirelessLEDOffset const LEDBitMask_t FaceLEDPanelMask = 1<<(FaceLEDPanelOffset-LEDOffset); //!< mask corresponding to FaceLEDPanelOffset, selects only the first of the panel - shift this to get the others const LEDBitMask_t FrBackColorLEDMask = 1<<(FrBackColorLEDOffset-LEDOffset); //!< mask corresponding to FrBackColorLEDOffset const LEDBitMask_t FrBackWhiteLEDMask = 1<<(FrBackWhiteLEDOffset-LEDOffset); //!< mask corresponding to FrBackWhiteLEDOffset const LEDBitMask_t MdBackColorLEDMask = 1<<(MdBackColorLEDOffset-LEDOffset); //!< mask corresponding to MdBackColorLEDOffset const LEDBitMask_t MdBackWhiteLEDMask = 1<<(MdBackWhiteLEDOffset-LEDOffset); //!< mask corresponding to MdBackWhiteLEDOffset const LEDBitMask_t RrBackColorLEDMask = 1<<(RrBackColorLEDOffset-LEDOffset); //!< mask corresponding to RrBackColorLEDOffset const LEDBitMask_t RrBackWhiteLEDMask = 1<<(RrBackWhiteLEDOffset-LEDOffset); //!< mask corresponding to RrBackWhiteLEDOffset const LEDBitMask_t LEDABModeMask = 1<<(LEDABModeOffset-LEDOffset); //!< mask corresponding to LEDABModeOffset const LEDBitMask_t BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset); //!< bottom left const LEDBitMask_t BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset); //!< bottom right const LEDBitMask_t MidLLEDMask = 1<<(MidLLEDOffset-LEDOffset); //!< middle left const LEDBitMask_t MidRLEDMask = 1<<(MidRLEDOffset-LEDOffset); //!< middle right const LEDBitMask_t TopLLEDMask = 1<<(TopLLEDOffset-LEDOffset); //!< top left const LEDBitMask_t TopRLEDMask = 1<<(TopRLEDOffset-LEDOffset); //!< top right const LEDBitMask_t TopBrLEDMask= 1<<(TopBrLEDOffset-LEDOffset); //!< top bar const LEDBitMask_t TlRedLEDMask= 1<<(TlRedLEDOffset-LEDOffset); //!< red tail light const LEDBitMask_t TlBluLEDMask= 1<<(TlBluLEDOffset-LEDOffset); //!< blue tail light //! LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries) /*! @hideinitializer */ const LEDBitMask_t FaceLEDMask = (FaceLEDPanelMask<<0) | (FaceLEDPanelMask<<1) | (FaceLEDPanelMask<<2) | (FaceLEDPanelMask<<3) | (FaceLEDPanelMask<<4) | (FaceLEDPanelMask<<5) | (FaceLEDPanelMask<<6) | (FaceLEDPanelMask<<7) | (FaceLEDPanelMask<<8) | (FaceLEDPanelMask<<9) | (FaceLEDPanelMask<<10) | (FaceLEDPanelMask<<11) | (FaceLEDPanelMask<<12) | (FaceLEDPanelMask<<13); //! LEDs for face (all but back lights) const LEDBitMask_t HeadLEDMask = FaceLEDMask | HeadColorLEDMask | HeadWhiteLEDMask | ModeRedLEDMask | ModeGreenLEDMask | ModeBlueLEDMask | WirelessLEDMask; //! LEDS on the back const LEDBitMask_t BackLEDMask = FrBackColorLEDMask | FrBackWhiteLEDMask | MdBackColorLEDMask | MdBackWhiteLEDMask | RrBackColorLEDMask | RrBackWhiteLEDMask; //! LEDs on tail (ERS-7 has none) const LEDBitMask_t TailLEDMask = 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 { LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder, ChinButOffset= 4, HeadButOffset, HeadFrButOffset=HeadButOffset, FrontBackButOffset, MiddleBackButOffset, BackButOffset = MiddleBackButOffset, RearBackButOffset, WirelessSwOffset }; //! Provides a string name for each button const char* const buttonNames[NumButtons] = { "LFrPaw","RFrPaw","LBkPaw","RBkPaw", "ChinBut","HeadBut", "FrontBackBut","MiddleBackBut","RearBackBut", "WirelessSw" }; //! holds offset to different sensor values in WorldState::sensors[] /*! @see WorldState::sensors[] */ enum SensorOffset_t { NearIRDistOffset = 0, //!< in millimeters, ranges from 50 to 500 IRDistOffset=NearIRDistOffset, //!< alias for ERS-2xx's solitary range finder FarIRDistOffset, //!< in millimeters, ranges from 200 to 1500 ChestIRDistOffset, //!< in millimeters, ranges from 100 to 900 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... 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] = { "NearIRDist","FarIRDist","ChestIRDist", "BAccel","LAccel","DAccel", "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:nod", "TAIL:tilt", "TAIL:pan", "MOUTH", "LED:headC","LED:headW", "LED:modeR","LED:modeG", "LED:modeB","LED:wless", "LED:faceA","LED:faceB","LED:faceC","LED:faceD","LED:faceE","LED:faceF","LED:faceG", "LED:faceH","LED:faceI","LED:faceJ","LED:faceK","LED:faceL","LED:faceM","LED:faceN", "LED:bkFrC","LED:bkFrW", "LED:bkMdC","LED:bkMdW", "LED:bkRrC","LED:bkRrW", "LED:ABmod", "EAR:left","EAR:right" }; //! provides polymorphic robot capability detection/mapping class ERS7Capabilities : public Capabilities { public: //! constructor ERS7Capabilities() : Capabilities(TargetName,NumOutputs,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs) { // 2xx button aliases buttonToIndex["HeadFrBut"]=HeadFrButOffset; // aliased to HeadButOffset buttonToIndex["BackBut"]=BackButOffset; //aliased to MiddleBackButOffset // 210 led aliases outputToIndex["LED:botL"]=BotLLEDOffset; // aliased to face panel... outputToIndex["LED:botR"]=BotRLEDOffset; outputToIndex["LED:midL"]=MidLLEDOffset; outputToIndex["LED:midR"]=MidRLEDOffset; outputToIndex["LED:topL"]=TopLLEDOffset; outputToIndex["LED:topR"]=TopRLEDOffset; outputToIndex["LED:topBr"]=TopBrLEDOffset;