MantisLegInfo.h

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//-*-c++-*-
#ifndef INCLUDED_MantisLegInfo_h
#define INCLUDED_MantisLegInfo_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_MANTISLEG)
#  define TGT_IS_MANTISLEG
#  define TGT_HAS_LEGS 1
#  define TGT_HAS_LEDS 4
#  define TGT_HAS_POWER_STATUS
#endif

//! Contains information about an Mantis Leg robot, such as number of joints, LEDs, etc.
namespace MantisLegInfo {

  // *******************************
  //       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   =  4; //!< The number of joints per leg
  const unsigned NumLegs        =  1; //!< 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     =  3; //!< the number of buttons that are available
  const unsigned NumSensors     =  11; //!< the number of sensors available
  const unsigned NumFacePanelLEDs = 0; //!< The number of face panel LEDs

  const unsigned NumPIDJoints   = NumArmJoints + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints; //!< servo pins
  const unsigned NumLEDs        = NumPIDJoints; //!< There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones
  
  const unsigned NumOutputs     = NumWheels + NumPIDJoints + NumLEDs; //!< the total number of outputs
  const unsigned NumReferenceFrames = NumOutputs + NumLegs + NumArms + 1; //!< for the base, feet, gripper, camera, and IR distance rangefinder

  using namespace Camera75DOF;
  
  const float BallOfFootRadius = 0; //!< radius of the ball of the foot


  // *******************************
  //         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 regular leg joints (after the 1 rotator joint for the right front leg):  #NumLegs of #JointsPerLeg each, in #LegOrder_t order; see #LegOffset_t
  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
  const unsigned FootFrameOffset  = BaseFrameOffset+1;  //!< Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw)
    const unsigned GripperFrameOffset = FootFrameOffset+NumLegs; //!< Use with kinematics to refer to gripper reference frame
  const unsigned CameraFrameOffset = GripperFrameOffset+NumArms; //!< Use with kinematics to refer to camera reference frame
    
    const unsigned LeftIRFrameOffset = CameraFrameOffset+1; //!< Use with kinematics to refer to left IR distance rangefinder reference frame
  const unsigned CenterIRFrameOffset = LeftIRFrameOffset+1; //!< Use with kinematics to refer to center IR distance rangefinder reference frame
  const unsigned IRFrameOffset = CenterIRFrameOffset; //!< alias for CenterIRFrameOffset
  const unsigned RightIRFrameOffset = CenterIRFrameOffset+1; //!< Use with kinematics to refer to right IR distance rangefinder reference frame

  
  //! the ordering of legs
  enum LegOrder_t {
    MdLegOrder = 0, //!< middle leg
  };
  
  //! The offsets within appendages (the legs)  Note that the ordering matches the actual physical ordering of joints on the appendage
  enum SEKOffset_t {
    SweepOffset = 0,  //!< moves leg forward or backward along body
    ElevatorOffset,   //!< moves leg toward or away from body
    RotorOffset,    //!< rotates leg
    KneeOffset      //!< moves knee
  };
  
  //! The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist)
  enum TPROffset_t {
    PanOffset = 0,    //!< pan/yaw/heading (horizontal)
    TiltOffset,     //!< tilt/pitch/elevation (vertical)
    NodOffset = TiltOffset, //!< replicated tilt (could be left undefined instead...)
    RollOffset      //!< spin/twist final axis
  };
  
  //! The offsets of the individual legs, add #REKOffset_t value to access specific joint
  /*! @hideinitializer */
  enum LegOffset_t {
    MdLegOffset = LegOffset+MdLegOrder*JointsPerLeg, //!< beginning of right front leg's joints
  };
    
    //! The offsets of the individual LEDs
  /*! @hideinitializer */
  enum LEDOffset_t {
    PowerRedLEDOffset=LEDOffset,
    PowerGreenLEDOffset,
    PlayLEDOffset,
    AdvanceLEDOffset
  };
    
    
    const LEDOffset_t RedLEDOffset = PowerRedLEDOffset;
  const LEDOffset_t BlueLEDOffset = AdvanceLEDOffset; 
  const LEDOffset_t GreenLEDOffset = PlayLEDOffset;
  const LEDOffset_t YellowLEDOffset = AdvanceLEDOffset;
    
  typedef unsigned int LEDBitMask_t; //!< So you can be clear when you're refering to a LED bitmask
    
  const LEDBitMask_t BlueLEDMask = (1<<(AdvanceLEDOffset-LEDOffset)) | (1<<(PowerRedLEDOffset-LEDOffset));
  const LEDBitMask_t GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset); //!< mask corresponding to GreenLEDOffset
  const LEDBitMask_t YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset); //!< mask corresponding to YellowLEDOffset
  const LEDBitMask_t RedLEDMask = 1<<(RedLEDOffset-LEDOffset); //!< mask corresponding to RedLEDOffset
    
  const LEDBitMask_t PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset); //!< mask corresponding to BlueLEDOffset
  const LEDBitMask_t PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset); //!< mask corresponding to GreenLEDOffset
  const LEDBitMask_t PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset); //!< mask corresponding to YellowLEDOffset
  const LEDBitMask_t AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset); //!< mask corresponding to RedLEDOffset
    
  //! 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;
  //@}
    
    
    //! Offset needed so that the centroid of the robot is correct related to the bounding box
  const fmat::Column<3> AgentBoundingBoxBaseFrameOffset = fmat::pack(400,70,350);
    
  //! Half of the length, width, and height of the robot.
  const fmat::Column<3> AgentBoundingBoxHalfDims = fmat::pack(100,100,100);
  //@}
    

  // *******************************
  //          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 { GreenButOffset, RedButOffset, YellowButOffset };

  //! Provides a string name for each button
  const char* const buttonNames[NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL };

  //! holds offset to different sensor values in WorldState::sensors[]
  /*! @see WorldState::sensors[] */
  enum SensorOffset_t {
    LeftIRDistOffset,
    CenterIRDistOffset,
    IRDistOffset = CenterIRDistOffset,
    RightIRDistOffset,
    LeftLuminosityOffset,
    CenterLuminosityOffset,
    RightLuminosityOffset,
    MicVolumeOffset,
    MicSpikeCountOffset,
    PowerRemainOffset, //! estimate of power capacity as percentage, 0-1
    PowerThermoOffset, //!< degrees Celcius
    PowerVoltageOffset, //!< volts
  };

  //! Provides a string name for each sensor
  const char* const sensorNames[NumSensors+1] = {
    "LeftIRDist", "CenterIRDist", "RightIRDist",
    "LeftLuminosity", "CenterLuminosity", "RightLuminosity",
    "MicVolume", "MicSpikeCount",
    "PowerRemain", "PowerThermo", "PowerVoltage", NULL
  };

  //@}
  
  
  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    // servos:
    "sweep","elevator","rotor","knee",
    
        // LEDs
    "LED:sweep","LED:elevator",
    "LED:rotor","LED:knee",
        
        // Reference frames
        "BaseFrame", "FootFrame",
      
    NULL
  };
  
  //! provides polymorphic robot capability detection/mapping
  class MantisLegCapabilities : public Capabilities {
  public:
    //! constructor
    MantisLegCapabilities()
    : Capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs)
    {
      frameToIndex["IRFrame"] = IRFrameOffset;  // aliased to the center IR sensor
      sensorToIndex["IRDist"] = IRDistOffset;   // aliased to the center IR sensor
    }
  };
    
  //! allocation declared in RobotInfo.cc
  extern const MantisLegCapabilities 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}
  };
  
  //!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
    0.4f, 0.4f, 0.4f, 0.4f, 
    // leds
    0,0,0,0 
  };

  #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(-100),RAD(100)}, 
        {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)},
        {RAD(-100),RAD(100)},   
    
        // LED
    {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 */
  const float mechanicalLimits[NumOutputs][2] = {
    // servos
    {RAD(-100),RAD(100)}, 
        {RAD(-100),RAD(100)},
    {RAD(-100),RAD(100)},
        {RAD(-100),RAD(100)},
    // LED
    {0,1},{0,1},
        {0,1},{0,1},
  };

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

/*! @file
 * @brief Defines some capabilities of the Mantis leg robots
 * @author ejt (Creator)
 */

#endif