CalliopeComponents::Calliope0 Namespace Reference

Typedefs
typedef unsigned int	LEDBitMask_t
	So you can be clear when you're refering to a LED bitmask.
Enumerations
enum	LEDOffset_t { PowerRedLEDOffset = LEDOffset, PowerGreenLEDOffset, PlayLEDOffset, AdvanceLEDOffset }
	The offsets of the individual LEDs. More...
Variables
const unsigned	FingerJointsPerArm = 0
const unsigned	JointsPerArm = 0
const unsigned	NumArms = 0
const unsigned	NumArmJoints = JointsPerArm*NumArms
const unsigned	NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints
	number of motors and servos
const unsigned	NumOutputs = NumPIDJoints + NumLEDs + 1
	the total number of outputs
const unsigned	LEDOffset = WheelOffset+NumWheels
const unsigned	ModeOffset = LEDOffset + NumLEDs
const unsigned	BaseFrameOffset = NumOutputs
	Use with kinematics to refer to base reference frame.
const unsigned	CameraFrameOffset = BaseFrameOffset+1
	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.
const LEDOffset_t	RedLEDOffset = PowerRedLEDOffset
const LEDOffset_t	BlueLEDOffset = AdvanceLEDOffset
	Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask.
const LEDOffset_t	GreenLEDOffset = PlayLEDOffset
const LEDOffset_t	YellowLEDOffset = AdvanceLEDOffset
const LEDBitMask_t	BlueLEDMask
	Create has no blue LED, so use Advance (green) + Power (red).
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
const LEDBitMask_t	FaceLEDMask = 0
	LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).
const LEDBitMask_t	AllLEDMask = (LEDBitMask_t)~0
	selects all of the leds
const float	DefaultPIDs [NumPIDJoints][3]
	This table holds the default PID values for each joint. see PIDMC.
const float	MaxOutputSpeed [NumOutputs]
	These values are our recommended maximum joint velocities, in rad/ms.
const float	outputRanges [NumOutputs][2]
	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).

Typedef Documentation

typedef unsigned int CalliopeComponents::Calliope0::LEDBitMask_t

So you can be clear when you're refering to a LED bitmask.

Definition at line 458 of file CalliopeComponents.h.

Enumeration Type Documentation

enum CalliopeComponents::Calliope0::LEDOffset_t

The offsets of the individual LEDs.

Enumerator:

PowerRedLEDOffset
PowerGreenLEDOffset
PlayLEDOffset
AdvanceLEDOffset

Definition at line 446 of file CalliopeComponents.h.

Variable Documentation

const LEDBitMask_t CalliopeComponents::Calliope0::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset

Definition at line 469 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope0::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 474 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 437 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope0::BlueLEDMask

Initial value:

 (1<<(AdvanceLEDOffset-LEDOffset)) |
    (1<<(PowerRedLEDOffset-LEDOffset))

Create has no blue LED, so use Advance (green) + Power (red).

Definition at line 460 of file CalliopeComponents.h.

const LEDOffset_t CalliopeComponents::Calliope0::BlueLEDOffset = AdvanceLEDOffset

Create has no blue LED: use Advance LED here, and Advance+PowerRED in BlueLEDMask.

Definition at line 454 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::CameraFrameOffset = BaseFrameOffset+1

Use with kinematics to refer to camera reference frame.

Definition at line 438 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::CenterIRFrameOffset = LeftIRFrameOffset+1

Use with kinematics to refer to center IR distance rangefinder reference frame.

Definition at line 440 of file CalliopeComponents.h.

const float CalliopeComponents::Calliope0::DefaultPIDs[NumPIDJoints][3]

Initial value:

 {
      {1,0,0},
      {1,0,0},
      {32,32,1},
      {32,32,1}
    }

This table holds the default PID values for each joint. see PIDMC.

Definition at line 477 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope0::FaceLEDMask = 0

LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries).

Definition at line 472 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::FingerJointsPerArm = 0

Definition at line 427 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope0::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 462 of file CalliopeComponents.h.

const LEDOffset_t CalliopeComponents::Calliope0::GreenLEDOffset = PlayLEDOffset

Definition at line 455 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::IRFrameOffset = CenterIRFrameOffset

alias for CenterIRFrameOffset

Definition at line 441 of file CalliopeComponents.h.

Referenced by Calliope2SPInfo::Calliope2SPCapabilities::Calliope2SPCapabilities(), Calliope5SPInfo::Calliope5SPCapabilities::Calliope5SPCapabilities(), CalliopeLPInfo::CalliopeLPCapabilities::CalliopeLPCapabilities(), CalliopeSPInfo::CalliopeSPCapabilities::CalliopeSPCapabilities(), and DualCoding::Lookout::moveHeadToPoint().

const unsigned CalliopeComponents::Calliope0::JointsPerArm = 0

Definition at line 428 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::LEDOffset = WheelOffset+NumWheels

Definition at line 434 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::LeftIRFrameOffset = CameraFrameOffset+1

Use with kinematics to refer to left IR distance rangefinder reference frame.

Definition at line 439 of file CalliopeComponents.h.

const float CalliopeComponents::Calliope0::MaxOutputSpeed[NumOutputs]

Initial value:

These values are our recommended maximum joint velocities, in rad/ms.

Definition at line 485 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::ModeOffset = LEDOffset + NumLEDs

Definition at line 435 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::NumArmJoints = JointsPerArm*NumArms

Definition at line 430 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::NumArms = 0

Definition at line 429 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::NumOutputs = NumPIDJoints + NumLEDs + 1

the total number of outputs

Definition at line 432 of file CalliopeComponents.h.

const unsigned CalliopeComponents::Calliope0::NumPIDJoints = NumWheels + NumHeadJoints + NumArmJoints

number of motors and servos

Definition at line 431 of file CalliopeComponents.h.

const float CalliopeComponents::Calliope0::outputRanges[NumOutputs][2]

Initial value:

    {
      { -500 , 500 }, 
      { -500 , 500 }, 
      {RAD(-150),RAD(150)}, 
      {RAD(-92),RAD(75)}, 
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 },
      {  0 , 1 },
      { MODE_PASSIVE, MODE_SAFE }
    }

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).

Definition at line 495 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope0::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset)

mask corresponding to YellowLEDOffset

Definition at line 468 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope0::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset)

mask corresponding to GreenLEDOffset

Definition at line 467 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope0::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset)

mask corresponding to BlueLEDOffset

Definition at line 466 of file CalliopeComponents.h.

const LEDBitMask_t CalliopeComponents::Calliope0::RedLEDMask = 1<<(RedLEDOffset-LEDOffset)

mask corresponding to RedLEDOffset