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ERS210Info Namespace Reference

Detailed Description

Contains information about the ERS-210 Robot, such as number of joints, PID defaults, timing information, etc.


Classes

class  ERS210Capabilities
 provides polymorphic robot capability detection/mapping More...

Output Offsets

Corresponds to entries in ERS210Info::PrimitiveName, defined at the end of this file

enum  LegOrder_t { LFrLegOrder = 0, RFrLegOrder, LBkLegOrder, RBkLegOrder }
 the ordering of legs More...
enum  REKOffset_t { RotatorOffset = 0, ElevatorOffset, KneeOffset }
 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). More...
enum  TPROffset_t { TiltOffset = 0, PanOffset, RollOffset, NodOffset = RollOffset }
 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). More...
enum  LegOffset_t { LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg }
 The offsets of the individual legs. More...
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.

Input Offsets

The order in which inputs should be stored

enum  ButtonOffset_t {
  LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder,
  ChinButOffset = 4, BackButOffset, HeadFrButOffset, HeadButOffset = HeadFrButOffset,
  HeadBkButOffset
}
 holds offsets to different buttons in WorldState::buttons[] More...
enum  SensorOffset_t {
  IRDistOffset = 0, BAccelOffset, LAccelOffset, DAccelOffset,
  ThermoOffset, PowerRemainOffset, PowerThermoOffset, PowerCapacityOffset,
  PowerVoltageOffset, PowerCurrentOffset
}
 holds offset to different sensor values in WorldState::sensors[] More...
const char *const buttonNames [NumButtons]
 Provides a string name for each button.
const char *const sensorNames [NumSensors]
 Provides a string name for each sensor.

LED Bitmasks

Bitmasks for use when specifying combinations of LEDs (see LedEngine ) Note that left/right are robot's point of view

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)
const LEDBitMask_t TlRedLEDMask = 1<<(TlRedLEDOffset-LEDOffset)
 red tail light
const LEDBitMask_t TlBluLEDMask = 1<<(TlBluLEDOffset-LEDOffset)
 blue tail light
const LEDBitMask_t FaceLEDMask
 LEDs for face (all but tail).
const LEDBitMask_t HeadLEDMask
 LEDs for face (all but tail).
const LEDBitMask_t BackLEDMask = 0
 210 has no back LEDs
const LEDBitMask_t TailLEDMask = TlRedLEDMask|TlBluLEDMask
 LEDs on tail.
const LEDBitMask_t AllLEDMask = (LEDBitMask_t)~0
 selects all of the leds
typedef unsigned int LEDBitMask_t
 So you can be clear when you're refering to a LED bitmask.

Enumerations

enum  LEDOffset_t {
  BotLLEDOffset = LEDOffset, BotRLEDOffset, MidLLEDOffset, MidRLEDOffset,
  TopLLEDOffset, TopRLEDOffset, TopBrLEDOffset, TlRedLEDOffset,
  TlBluLEDOffset, FaceFrontLeftLEDOffset = BotLLEDOffset, FaceFrontRightLEDOffset = BotRLEDOffset, FaceCenterLeftLEDOffset = MidLLEDOffset,
  FaceCenterRightLEDOffset = MidRLEDOffset, FaceBackLeftLEDOffset = TopLLEDOffset, FaceBackRightLEDOffset = TopRLEDOffset, ModeLEDOffset = TopBrLEDOffset,
  TailRightLEDOffset = TlRedLEDOffset, TailLeftLEDOffset = TlBluLEDOffset
}
 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. More...

Variables

const char *const TargetName = "ERS-210"
 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
const char *const outputNames [NumOutputs]
 Names for each of the outputs.
ERS210Capabilities capabilities
 allocation declared in RobotInfo.cc
const char *const PrimitiveName [NumOutputs]
 the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others)
const char *const SpeakerLocator = "PRM:/r1/c1/c2/c3/s1-Speaker:S1"
 use to open speaker connectio with the system
const char *const CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"
 use to open camera connection with the system
const float DefaultPIDs [NumPIDJoints][3]
 This table holds the default PID values for each joint. see PIDMC.
const unsigned char DefaultPIDShifts [3] = {0x0E, 0x02, 0x0F}
 These will control the shift values given to the system. see PIDMC.
const float MaxOutputSpeed [NumOutputs]
 These values are Sony's recommended maximum joint velocities, in rad/ms.
const double outputRanges [NumOutputs][2]
 This table holds the software limits of each of the outputs.
const double mechanicalLimits [NumOutputs][2]
 This table holds the mechanical limits of each of the outputs.
Output Types Information
Corresponds to entries in ERS210Info::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

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
 no wheels, just legs
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 = 8
 the number of buttons that are available, see ERS210Info::ButtonOffset_t
const unsigned NumSensors = 1+3+1+5
 1 dist, 3 accel, 1 thermo, 5 from power, see ERS210Info::SensorOffset_t
const unsigned NumLEDs = 9
 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
const bool IsFastOutput [NumOutputs]
 true for joints which can be updated every 32 ms (all but the ears)
CPC IDs
values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS210Info::PrimitiveName

const int CPCJointNeckTilt = 0
const int CPCJointNeckPan = 1
const int CPCJointNeckRoll = 2
const int CPCSensorHeadBackPressure = 3
const int CPCSensorHeadFrontPressure = 4
const int CPCSensorPSD = 5
const int CPCJointMouth = 6
const int CPCSensorChinSwitch = 7
const int CPCJointLFRotator = 8
const int CPCJointLFElevator = 9
const int CPCJointLFKnee = 10
const int CPCSensorLFPaw = 11
const int CPCJointLHRotator = 12
const int CPCJointLHElevator = 13
const int CPCJointLHKnee = 14
const int CPCSensorLHPaw = 15
const int CPCJointRFRotator = 16
const int CPCJointRFElevator = 17
const int CPCJointRFKnee = 18
const int CPCSensorRFPaw = 19
const int CPCJointRHRotator = 20
const int CPCJointRHElevator = 21
const int CPCJointRHKnee = 22
const int CPCSensorRHPaw = 23
const int CPCJointTailPan = 24
const int CPCJointTailTilt = 25
const int CPCSensorThermoSensor = 26
const int CPCSensorBackSwitch = 27
const int CPCSensorAccelFB = 28
 Front-back; see RobotInfo::BAccelOffset.
const int CPCSensorAccelLR = 29
 Left-right; see RobotInfo::LAccelOffset.
const int CPCSensorAccelUD = 30
 Up-down; see RobotInfo::DAccelOffset.

Typedef Documentation

typedef unsigned int ERS210Info::LEDBitMask_t

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

Definition at line 152 of file ERS210Info.h.

Enumeration Type Documentation

enum ERS210Info::ButtonOffset_t

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 also:
WorldState::buttons

ButtonSourceID_t

Enumerator:
LFrPawOffset 
RFrPawOffset 
LBkPawOffset 
RBkPawOffset 
ChinButOffset 
BackButOffset 
HeadFrButOffset  not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none
HeadButOffset  for ERS-7 compatibility
HeadBkButOffset  not in reliable pressure units, but 1.0 is fairly stiff pressure, 0 is none

Definition at line 201 of file ERS210Info.h.

enum ERS210Info::LEDOffset_t

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.

Enumerator:
BotLLEDOffset  bottom left (red - sad)
BotRLEDOffset  bottom right (red - sad)
MidLLEDOffset  middle left (green - happy)
MidRLEDOffset  middle right (green - happy)
TopLLEDOffset  top left (red - angry)
TopRLEDOffset  top right (red - angry)
TopBrLEDOffset  top bar (green)
TlRedLEDOffset  red tail light
TlBluLEDOffset  blue tail light
FaceFrontLeftLEDOffset  alias for 220 cross-compatibility
FaceFrontRightLEDOffset  alias for 220 cross-compatibility
FaceCenterLeftLEDOffset  alias for 220 cross-compatibility
FaceCenterRightLEDOffset  alias for 220 cross-compatibility
FaceBackLeftLEDOffset  alias for 220 cross-compatibility
FaceBackRightLEDOffset  alias for 220 cross-compatibility
ModeLEDOffset  alias for 220 cross-compatibility
TailRightLEDOffset  alias for 220 cross-compatibility
TailLeftLEDOffset  alias for 220 cross-compatibility

Definition at line 127 of file ERS210Info.h.

enum ERS210Info::LegOffset_t

The offsets of the individual legs.

Enumerator:
LFrLegOffset  beginning of left front leg
RFrLegOffset  beginning of right front leg
LBkLegOffset  beginning of left back leg
RBkLegOffset  beginning of right back leg

Definition at line 117 of file ERS210Info.h.

enum ERS210Info::LegOrder_t

the ordering of legs

Enumerator:
LFrLegOrder  left front leg
RFrLegOrder  right front leg
LBkLegOrder  left back leg
RBkLegOrder  right back leg

Definition at line 94 of file ERS210Info.h.

enum ERS210Info::REKOffset_t

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).

Enumerator:
RotatorOffset  moves leg forward or backward along body
ElevatorOffset  moves leg toward or away from body
KneeOffset  moves knee

Definition at line 102 of file ERS210Info.h.

enum ERS210Info::SensorOffset_t

holds offset to different sensor values in WorldState::sensors[]

See also:
WorldState::sensors[]
Enumerator:
IRDistOffset  in millimeters
BAccelOffset  backward acceleration, in $m/s^2$, negative if sitting on butt (positive for faceplant)
LAccelOffset  acceleration to the robot's left, in $m/s^2$, negative if lying on robot's left side
DAccelOffset  downward acceleration, in $m/s^2$, 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?)

Definition at line 222 of file ERS210Info.h.

enum ERS210Info::TPROffset_t

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).

Enumerator:
TiltOffset  tilt/elevation (vertical)
PanOffset  pan/heading (horizontal)
RollOffset  roll (rotational)
NodOffset  nod (second tilt)

Definition at line 109 of file ERS210Info.h.

Variable Documentation

const LEDBitMask_t ERS210Info::AllLEDMask = (LEDBitMask_t)~0

selects all of the leds

Definition at line 179 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::BackLEDMask = 0

210 has no back LEDs

Definition at line 177 of file ERS210Info.h.

const float ERS210Info::BallOfFootRadius = 27.922/2

radius of the ball of the foot

Definition at line 59 of file ERS210Info.h.

const unsigned ERS210Info::BaseFrameOffset = NumOutputs

Use with kinematics to refer to base reference frame.

Definition at line 88 of file ERS210Info.h.

const unsigned ERS210Info::BinJointOffset = LEDOffset + NumLEDs

The beginning of the binary joints.

Definition at line 85 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::BotLLEDMask = 1<<(BotLLEDOffset-LEDOffset)

bottom left (red - sad)

Definition at line 153 of file ERS210Info.h.

const LEDBitMask_t ERS210Info::BotRLEDMask = 1<<(BotRLEDOffset-LEDOffset)

bottom right (red - sad)

Definition at line 154 of file ERS210Info.h.

const char* const ERS210Info::buttonNames[NumButtons]

Initial value:

 {
    "LFrPaw","RFrPaw","LBkPaw","RBkPaw",
    "ChinBut","BackBut",
    "HeadFrBut","HeadBkBut"
  }
Provides a string name for each button.

Definition at line 214 of file ERS210Info.h.

Referenced by RunSequenceControl< SequenceSize >::selectedFile(), LoadPostureControl::selectedFile(), and EmergencyStopMC::trigger().

const float ERS210Info::CameraFOV = CameraHorizFOV

should be set to maximum of CameraHorizFOV or CameraVertFOV

Definition at line 56 of file ERS210Info.h.

const unsigned ERS210Info::CameraFrameOffset = PawFrameOffset+NumLegs

Use with kinematics to refer to camera reference frame.

Definition at line 90 of file ERS210Info.h.

const float ERS210Info::CameraHorizFOV = 57.6/180*M_PI

horizontal field of view (radians)

Definition at line 54 of file ERS210Info.h.

const char* const ERS210Info::CameraLocator = "PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"

use to open camera connection with the system

Definition at line 357 of file ERS210Info.h.

const unsigned int ERS210Info::CameraResolutionX = 176

the number of pixels available in the 'full' layer

Definition at line 57 of file ERS210Info.h.

const unsigned int ERS210Info::CameraResolutionY = 144

the number of pixels available in the 'full' layer

Definition at line 58 of file ERS210Info.h.

const float ERS210Info::CameraVertFOV = 47.8/180*M_PI

vertical field of view (radians)

Definition at line 55 of file ERS210Info.h.

ERS210Capabilities ERS210Info::capabilities

allocation declared in RobotInfo.cc

Definition at line 14 of file RobotInfo.cc.

const int ERS210Info::CPCJointLFElevator = 9

Definition at line 507 of file ERS210Info.h.

const int ERS210Info::CPCJointLFKnee = 10

Definition at line 508 of file ERS210Info.h.

const int ERS210Info::CPCJointLFRotator = 8

Definition at line 506 of file ERS210Info.h.

const int ERS210Info::CPCJointLHElevator = 13

Definition at line 511 of file ERS210Info.h.

const int ERS210Info::CPCJointLHKnee = 14

Definition at line 512 of file ERS210Info.h.

const int ERS210Info::CPCJointLHRotator = 12

Definition at line 510 of file ERS210Info.h.

const int ERS210Info::CPCJointMouth = 6

Definition at line 504 of file ERS210Info.h.

const int ERS210Info::CPCJointNeckPan = 1

Definition at line 499 of file ERS210Info.h.

const int ERS210Info::CPCJointNeckRoll = 2

Definition at line 500 of file ERS210Info.h.

const int ERS210Info::CPCJointNeckTilt = 0

Definition at line 498 of file ERS210Info.h.

const int ERS210Info::CPCJointRFElevator = 17

Definition at line 515 of file ERS210Info.h.

const int ERS210Info::CPCJointRFKnee = 18

Definition at line 516 of file ERS210Info.h.

const int ERS210Info::CPCJointRFRotator = 16

Definition at line 514 of file ERS210Info.h.

const int ERS210Info::CPCJointRHElevator = 21

Definition at line 519 of file ERS210Info.h.

const int ERS210Info::CPCJointRHKnee = 22

Definition at line 520 of file ERS210Info.h.

const int ERS210Info::CPCJointRHRotator = 20

Definition at line 518 of file ERS210Info.h.

const int ERS210Info::CPCJointTailPan = 24

Definition at line 522 of file ERS210Info.h.

const int ERS210Info::CPCJointTailTilt = 25

Definition at line 523 of file ERS210Info.h.

const int ERS210Info::CPCSensorAccelFB = 28

Front-back; see RobotInfo::BAccelOffset.

Definition at line 526 of file ERS210Info.h.

const int ERS210Info::CPCSensorAccelLR = 29

Left-right; see RobotInfo::LAccelOffset.

Definition at line 527 of file ERS210Info.h.

const int ERS210Info::CPCSensorAccelUD = 30

Up-down; see RobotInfo::DAccelOffset.

Definition at line 528 of file ERS210Info.h.

const int ERS210Info::CPCSensorBackSwitch = 27

Definition at line 525 of file ERS210Info.h.

const int ERS210Info::CPCSensorChinSwitch = 7

Definition at line 505 of file ERS210Info.h.

const int ERS210Info::CPCSensorHeadBackPressure = 3

Definition at line 501 of file ERS210Info.h.

const int ERS210Info::CPCSensorHeadFrontPressure = 4

Definition at line 502 of file ERS210Info.h.

const int ERS210Info::CPCSensorLFPaw = 11

Definition at line 509 of file ERS210Info.h.

const int ERS210Info::CPCSensorLHPaw = 15

Definition at line 513 of file ERS210Info.h.

const int ERS210Info::CPCSensorPSD = 5

Definition at line 503 of file ERS210Info.h.

const int ERS210Info::CPCSensorRFPaw = 19

Definition at line 517 of file ERS210Info.h.

const int ERS210Info::CPCSensorRHPaw = 23

Definition at line 521 of file ERS210Info.h.

const int ERS210Info::CPCSensorThermoSensor = 26

Definition at line 524 of file ERS210Info.h.

const float ERS210Info::CylinderOfFootRadius = 24.606/2

radius of the cylinder of the foot

Definition at line 60 of file ERS210Info.h.

const float ERS210Info::DefaultPIDs[NumPIDJoints][3]

Initial value:

    {
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },
      { 0x16/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x08/(double)(1<<(16-0xF)) },
      { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x06/(double)(1<<(16-0xF)) },
      { 0x23/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x05/(double)(1<<(16-0xF)) },

      { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },
      { 0x0D/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0B/(double)(1<<(16-0xF)) },
      { 0x0A/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x0C/(double)(1<<(16-0xF)) },

      { 0x0A/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x18/(double)(1<<(16-0xF)) },
      { 0x07/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x11/(double)(1<<(16-0xF)) },

      { 0x0E/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x10/(double)(1<<(16-0xF)) }
    }
This table holds the default PID values for each joint. see PIDMC.

Definition at line 385 of file ERS210Info.h.

const unsigned char ERS210Info::DefaultPIDShifts[3] = {0x0E, 0x02, 0x0F}

These will control the shift values given to the system. see PIDMC.

Definition at line 411 of file ERS210Info.h.

const unsigned ERS210Info::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

Definition at line 86 of file ERS210Info.h.

Referenced by