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ERS7Info.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_ERS7Info_h #define INCLUDED_ERS7Info_h #include <math.h> #ifndef PLATFORM_APERIOS typedef unsigned short word; //!< otherwise defined in Types.h #else #include <Types.h> #endif #include "CommonInfo.h" using namespace RobotInfo; //! Contains information about the ERS-7 Robot, such as number of joints, PID defaults, timing information, etc. namespace ERS7Info { // ******************************* // ROBOT CONFIGURATION // ******************************* 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 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 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 //! true for joints which can be updated every 32 ms (all but the ears) 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 }; //! we need this so you can tell programmatically which joints are "real" and which are "fake" in a compatability mode const bool IsRealERS7[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,false, //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 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 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 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 { HeadColorLEDOffset = LEDOffset, HeadWhiteLEDOffset, ModeRedLEDOffset, ModeGreenLEDOffset, ModeBlueLEDOffset, WirelessLEDOffset, FaceLEDPanelOffset, //!< the first LED in the panel - add to this to get the other 13 (14 total) FrBackColorLEDOffset = FaceLEDPanelOffset+14, // blue/purple FrBackWhiteLEDOffset, MdBackColorLEDOffset, // orange MdBackWhiteLEDOffset, RrBackColorLEDOffset, // red RrBackWhiteLEDOffset, LEDABModeOffset, // allows you to control A/B mode setting (this is a "virtual" LED) // aliases for 2xx cross-compatibility BotLLEDOffset = FaceLEDPanelOffset+0,//!< aliases for backward compatability (use mode A); bottom left BotRLEDOffset = FaceLEDPanelOffset+1, //!< bottom right MidLLEDOffset = FaceLEDPanelOffset+2, //!< middle left MidRLEDOffset = FaceLEDPanelOffset+3, //!< middle right TopLLEDOffset = FaceLEDPanelOffset+6, //!< top left TopRLEDOffset = FaceLEDPanelOffset+7, //!< top right TopBrLEDOffset= HeadColorLEDOffset,//!< top bar TlRedLEDOffset= RrBackColorLEDOffset,//!< red tail light TlBluLEDOffset= FrBackColorLEDOffset //!< blue tail light }; //! 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 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 the face panel const LEDBitMask_t HeadLEDMask = FaceLEDMask|HeadColorLEDMask|HeadWhiteLEDMask|ModeRedLEDMask|ModeGreenLEDMask|ModeBlueLEDMask|WirelessLEDMask; //!< LEDs for face (all but back lights) const LEDBitMask_t BackLEDMask = FrBackColorLEDMask|FrBackWhiteLEDMask|MdBackColorLEDMask|MdBackWhiteLEDMask|RrBackColorLEDMask|RrBackWhiteLEDMask; //!< LEDS on the back const LEDBitMask_t TailLEDMask = 0; //!< LEDs on tail (ERS-7 has none) const LEDBitMask_t AllLEDMask = ~0; //!< selects all of the leds //@} // ******************************* // 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 PowerSourceID::PauseSID. * * @see WorldState::buttons @see ButtonSourceID_t */ 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 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" }; //@} //! The length of the strings used for each of the outputs in outputNames (doesn't include null term) const unsigned outputNameLen = 9; //! A name of uniform length for referring to joints - handy for posture files, etc. 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" }; //! the joint identifier strings used to refer to specific joints in OPEN-R (but not needed for others) /*!@showinitializer * @warning IMPORTANT!!!! DO NOT CHANGE THE ORDER OF ITEMS IN THIS TABLE!!!\n * * The offset consts defined in this file correspond to this table and will make life easier * if you feel the need to reorder things, but they aren't used perfect @e everywhere \n * In particular, assumptions are made that the pid joints will be in slots 0-numPIDJoints * and that the fast outputs (ie NOT ears) will be in slots 0-NumFastOutputs\n * There may be other assumptions not noted here!!! * @note These entries DON'T correspond to the CPC index numbers defined in WorldState (this only lists joints, and in a different order defined by OPEN-R, that one has sensors as well*/ const char* const PrimitiveName [NumOutputs] = { "PRM:/r2/c1-Joint2:21", //!< the left front leg the rotator "PRM:/r2/c1/c2-Joint2:22", //!< the left front leg the elevator "PRM:/r2/c1/c2/c3-Joint2:23", //!< the left front leg the knee "PRM:/r4/c1-Joint2:41", //!< the right front leg the rotator "PRM:/r4/c1/c2-Joint2:42", //!< the right front leg the elevator "PRM:/r4/c1/c2/c3-Joint2:43", //!< the right front leg the knee "PRM:/r3/c1-Joint2:31", //!< the left hind leg the rotator "PRM:/r3/c1/c2-Joint2:32", //!< the left hind leg the elevator "PRM:/r3/c1/c2/c3-Joint2:33", //!< the left hind leg the knee "PRM:/r5/c1-Joint2:51", //!< the right hind leg the rotator "PRM:/r5/c1/c2-Joint2:52", //!< the right hind leg the elevator "PRM:/r5/c1/c2/c3-Joint2:53", //!< the right hind leg the knee "PRM:/r1/c1-Joint2:11", //!< the lower neck tilt (12) "PRM:/r1/c1/c2-Joint2:12", //!< the neck pan "PRM:/r1/c1/c2/c3-Joint2:13", //!< the upper neck tilt (nod) "PRM:/r6/c1-Joint2:61", //!< the tail tilt "PRM:/r6/c2-Joint2:62", //!< the tail rotate "PRM:/r1/c1/c2/c3/c4-Joint2:14", //!< the mouth (17) "PRM:/r1/c1/c2/c3/l1-LED2:l1", //!< Head light (color) (x6, 18) "PRM:/r1/c1/c2/c3/l2-LED2:l2", //!< Head light (white) "PRM:/r1/c1/c2/c3/l3-LED2:l3", //!< Red mode indicator "PRM:/r1/c1/c2/c3/l4-LED2:l4", //!< Green mode indicator "PRM:/r1/c1/c2/c3/l5-LED2:l5", //!< Blue mode indicator "PRM:/r1/c1/c2/c3/l6-LED2:l6", //!< wireless light "PRM:/r1/c1/c2/c3/la-LED3:la", //!< face lights... (x14, 24-37) "PRM:/r1/c1/c2/c3/lb-LED3:lb", "PRM:/r1/c1/c2/c3/lc-LED3:lc", "PRM:/r1/c1/c2/c3/ld-LED3:ld", "PRM:/r1/c1/c2/c3/le-LED3:le", "PRM:/r1/c1/c2/c3/lf-LED3:lf", "PRM:/r1/c1/c2/c3/lg-LED3:lg", "PRM:/r1/c1/c2/c3/lh-LED3:lh", "PRM:/r1/c1/c2/c3/li-LED3:li", "PRM:/r1/c1/c2/c3/lj-LED3:lj", "PRM:/r1/c1/c2/c3/lk-LED3:lk", "PRM:/r1/c1/c2/c3/ll-LED3:ll", "PRM:/r1/c1/c2/c3/lm-LED3:lm", "PRM:/r1/c1/c2/c3/ln-LED3:ln", //!< ...last face light (37) "PRM:/lu-LED3:lu", //!< front back light (color) (x6, 38) "PRM:/lv-LED3:lv", //!< front back light (white) "PRM:/lw-LED3:lw", //!< middle back light (color) "PRM:/lx-LED3:lx", //!< middle back light (white) "PRM:/ly-LED3:ly", //!< rear back light (color) "PRM:/lz-LED3:lz", //!< rear back light (white) "", //!< the virtual mode A/B switcher "PRM:/r1/c1/c2/c3/e5-Joint4:15", //!< left ear (44) "PRM:/r1/c1/c2/c3/e6-Joint4:16" //!< right ear }; //! use to open speaker connection with the system const char* const SpeakerLocator="PRM:/s1-Speaker:S1"; //! use to open camera connection with the system const char* const CameraLocator="PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"; //! This table holds the default PID values for each joint. see PIDMC const float DefaultPIDs[NumPIDJoints][3] = { { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x14/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x1C/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x01/(double)(1<<(16-0xF)) }, { 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x02/(double)(1<<(16-0xF)) }, { 0x08/(double)(1<<(16-0xE)), 0x02/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) }, { 0x08/(double)(1<<(16-0xE)), 0x08/(double)(1<<(16-0x2)), 0x02/(double)(1<<(16-0xF)) }, // 'I' value changed to 0x08 instead of standard 0x04 { 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) }, { 0x0A/(double)(1<<(16-0xE)), 0x04/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) }, { 0x08/(double)(1<<(16-0xE)), 0x00/(double)(1<<(16-0x2)), 0x04/(double)(1<<(16-0xF)) } }; //! These will control the shift values given to the system. see PIDMC /*! These are modified from the default values to give better range of values to the gains */ const unsigned char DefaultPIDShifts[3] = {0x0E, 0x02-1, 0x0F-3}; //!These values are Sony's 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] = { 4.86510529e-3, //Legs LR,FB,REK 5.27962099e-3, 5.27962099e-3, 4.86510529e-3, 5.27962099e-3, 5.27962099e-3, 4.86510529e-3, 5.27962099e-3, 5.27962099e-3, 4.86510529e-3, 5.27962099e-3, 5.27962099e-3, 3.18522588e-3, //Head TPR 1.00574598e-2, 5.78140315e-3, 1.51625479e-2, //Tail 1.51625479e-2, 1.01447263e-2, //Mouth 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, //LEDs 0,0 //Ears }; #ifndef RAD //!Just a little macro for converting degrees to radians #define RAD(deg) (((deg) * M_PI ) / 180.0) //!a flag so we undef these after we're done - do you have a cleaner solution? #define __RI_RAD_FLAG #endif //! Defines the indexes to use to access the min and max entries of ERS7Info::outputRanges and ERS7Info::mechanicalLimits enum MinMaxRange_t { MinRange,MaxRange }; //! This table holds the software limits of each of the outputs const double outputRanges[NumOutputs][2] = { { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, //left front REK { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, //right front REK { RAD(-130),RAD(115) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, //left back REK { RAD(-130),RAD(115) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, //right back REK { RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) }, //neck Tilt-pan-nod { RAD(5),RAD(60) },{ RAD(-45),RAD(45) }, // tail tp { RAD(-55),RAD(-3) }, //mouth {0,1},{0,1},{0,1},{0,1},{0,1},{0,1}, //misc LEDs {0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1}, //Face LEDs {0,1},{0,1},{0,1},{0,1},{0,1},{0,1}, //back LEDs {0,1}, //virtual mode A/B switcher {0,1},{0,1} //ears }; //! This table holds the mechanical limits of each of the outputs @todo same as outputLimits right now, don't know actual values yet const double mechanicalLimits[NumOutputs][2] = { { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, //left front REK { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, //right front REK { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, //left back REK { RAD(-115),RAD(130) },{ RAD(-10),RAD(88) },{ RAD(-25),RAD(122) }, //right back REK { RAD(-75),RAD(0) },{ RAD(-88),RAD(88) },{ RAD(-15),RAD(45) }, //neck Tilt-pan-nod { RAD(5),RAD(60) },{ RAD(-45),RAD(45) }, // tail tp { RAD(-55),RAD(-3) }, //mouth {0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1},{0,1}, //LEDs {0,1},{0,1} //ears }; #ifdef __RI_RAD_FLAG #undef RAD #undef __RI_RAD_FLAG #endif /*! @name CPC IDs * values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS7Info::PrimitiveName */ static const int CPCJointMouth = 0; //!< Mouth static const int CPCSwitchChin = 1; //!< Chin sensor static const int CPCJointNeckNod = 2; //!< Neck tilt2 static const int CPCSensorHead = 3; //!< Head sensor static const int CPCSensorNearPSD = 4; //!< Head distance sensor(near) static const int CPCSensorFarPSD = 5; //!< Head distance sensor(far) static const int CPCJointNeckPan = 6; //!< Neck pan static const int CPCJointNeckTilt = 7; //!< Neck tilt1 static const int CPCSwitchLFPaw = 8; //!< Left fore leg paw sensor static const int CPCJointLFKnee = 9; //!< Left fore legJ3 static const int CPCJointLFElevator = 10; //!< Left fore legJ2 static const int CPCJointLFRotator = 11; //!< Left fore legJ1 static const int CPCSwitchLHPaw = 12; //!< Left hind leg paw sensor static const int CPCJointLHKnee = 13; //!< Left hind legJ3 static const int CPCJointLHElevator = 14; //!< Left hind legJ2 static const int CPCJointLHRotator = 15; //!< Left hind legJ1 static const int CPCSwitchRFPaw = 16; //!< Right fore leg paw sensor static const int CPCJointRFKnee = 17; //!< Right fore legJ3 static const int CPCJointRFElevator = 18; //!< Right fore legJ2 static const int CPCJointRFRotator = 19; //!< Right fore legJ1 static const int CPCSwitchRHPaw = 20; //!< Right hind leg paw sensor static const int CPCJointRHKnee = 21; //!< Right hind legJ3 static const int CPCJointRHElevator = 22; //!< Right hind legJ2 static const int CPCJointRHRotator = 23; //!< Right hind legJ1 static const int CPCJointTailTilt = 24; //!< Tail tilt static const int CPCJointTailPan = 25; //!< Tail pan static const int CPCSensorAccelFB = 26; //!< Acceleration sensor(front-back) static const int CPCSensorAccelLR = 27; //!< Acceleration sensor(right-left) static const int CPCSensorAccelUD = 28; //!< Acceleration sensor(up-down) static const int CPCSensorChestPSD = 29; //!< Chest distance sensor static const int CPCSwitchWireless = 30; //!< Wireless LAN switch static const int CPCSensorBackRear = 31; //!< Back sensor(rear) static const int CPCSensorBackMiddle= 32; //!< Back sensor(middle) static const int CPCSensorBackFront = 33; //!< Back sensor(front) //@} } /*! @file * @brief Defines RobotInfo namespace for ERS-210 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-2_3 $ * $Revision: 1.23 $ * $State: Exp $ * $Date: 2005/01/11 23:30:43 $ */ #endif

Tekkotsu v2.3

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