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ERS220Info.h Go to the documentation of this file. //-*-c++-*- // Mad props to Daishi MORI, the 220 master chief, for porting to the 220 ;) #ifndef INCLUDED_ERS220Info_h #define INCLUDED_ERS220Info_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; #if TGT_ERS2xx #include "ERS2xxInfo.h" #endif //! Contains information about the ERS-220 Robot, such as number of joints, PID defaults, timing information, etc. namespace ERS220Info { #if TGT_ERS2xx using namespace ERS2xxInfo; #else // ******************************* // ROBOT CONFIGURATION // ******************************* const char* const RobotName="ERS-220"; //!< 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 //!Corresponds to entries in ERS220Info::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 = 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 = 11; //!< the number of buttons that are available, see ERS220Info::ButtonOffset_t const unsigned NumSensors = 1+3+1+5; //!< 1 dist, 3 accel, 1 thermo, 5 from power, see ERS220Info::SensorOffset_t const unsigned NumLEDs = 20; //!< The number of LEDs which can be controlled const unsigned NumPIDJoints = NumLegJoints+NumHeadJoints+NumTailJoints+NumMouthJoints; //!< The number of joints which use PID motion - everything const unsigned NumBinJoints = NumEarJoints; //!< The number of binary joints - just the ears (which the 220 doesn't have) 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 //! true for joints which can be updated every 32 ms (true for all) const bool IsFastOutput[NumOutputs] = { // for PID joints true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, // for LEDs true, true, true, // face left side LEDs x3 true, true, true, // face right side LEDs x3 true, // head mode LED x1 true, true, true, // back left multi LEDs x3 true, true, true, // back right multi LEDs x3 true, true, true, // tail LEDs x3 true, true, true, // face front LEDs x3 true, // retractable head light x1 // for binary joints (none supported/exist on 220) }; //! we need this so you can tell programmatically which joints are "real" and which are "fake" in ERS-2xx target mode const bool IsRealERS220[NumOutputs] = { // for PID joints true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, // for LEDs true, true, true, // face left side LEDs x3 true, true, true, // face right side LEDs x3 true, // head mode LED x1 true, true, true, // back left multi LEDs x3 true, true, true, // back right multi LEDs x3 true, true, true, // tail LEDs x3 true, true, true, // face front LEDs x3 true, // retractable head light x1 // for binary joints (none supported/exist on 220) }; // ******************************* // OUTPUT OFFSETS // ******************************* //!Corresponds to entries in ERS220Info::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 LEDOffset = PIDJointOffset + NumPIDJoints; //!< the offset of LEDs in WorldState::outputs and MotionCommand functions const unsigned BinJointOffset = NumOutputs; //!< The beginning of the binary joints 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 //! 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 { FaceFrontLeftLEDOffset = LEDOffset, //!< head face side light (front left - blue) FaceFrontRightLEDOffset, //!< head face side light (front right - blue) FaceCenterLeftLEDOffset, //!< head face side light (center left - blue) FaceCenterRightLEDOffset, //!< head face side light (center right - blue) FaceBackLeftLEDOffset, //!< head face side light (back left - red) FaceBackRightLEDOffset, //!< head face side light (back right - red) ModeLEDOffset, //!< mode indicator (back of the head - orange) BackLeft1LEDOffset, //!< back multi-indicator (left #1 - blue) BackLeft2LEDOffset, //!< back multi-indicator (left #2 - blue) BackLeft3LEDOffset, //!< back multi-indicator (left #3 - blue) BackRight3LEDOffset, //!< back multi-indicator (right #3 - blue) BackRight2LEDOffset, //!< back multi-indicator (right #2 - blue) BackRight1LEDOffset, //!< back multi-indicator (right #1 - blue) TailLeftLEDOffset, //!< tail light (left - blue) TailCenterLEDOffset, //!< tail light (center - red) TailRightLEDOffset, //!< tail light (right - blue) FaceFrontBLEDOffset, //!< face front light B (blue) FaceFrontALEDOffset, //!< face front light A (blue) FaceFrontCLEDOffset, //!< face front light C (red) RetractableHeadLEDOffset, //!< retractable head light // aliases for backward compatibility BotLLEDOffset = FaceFrontLeftLEDOffset, //!< bottom left (red - sad) (ERS-210) BotRLEDOffset = FaceFrontRightLEDOffset, //!< bottom right (red - sad) (ERS-210) MidLLEDOffset = FaceCenterLeftLEDOffset, //!< middle left (green - happy) (ERS-210) MidRLEDOffset = FaceCenterRightLEDOffset, //!< middle right (green - happy) (ERS-210) TopLLEDOffset = FaceBackLeftLEDOffset, //!< top left (red - angry) (ERS-210) TopRLEDOffset = FaceBackRightLEDOffset, //!< top right (red - angry) (ERS-210) TopBrLEDOffset = ModeLEDOffset, //!< top bar (green) (ERS-210) TlBluLEDOffset = TailLeftLEDOffset, //!< blue tail light (ERS-210) TlRedLEDOffset = TailRightLEDOffset, //!< red tail light (ERS-210) }; //! 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 FaceFrontLeftLEDMask = 1<<(FaceFrontLeftLEDOffset-LEDOffset); const LEDBitMask_t FaceFrontRightLEDMask = 1<<(FaceFrontRightLEDOffset-LEDOffset); const LEDBitMask_t FaceCenterLeftLEDMask = 1<<(FaceCenterLeftLEDOffset-LEDOffset); const LEDBitMask_t FaceCenterRightLEDMask = 1<<(FaceCenterRightLEDOffset-LEDOffset); const LEDBitMask_t FaceBackLeftLEDMask = 1<<(FaceBackLeftLEDOffset-LEDOffset); const LEDBitMask_t FaceBackRightLEDMask = 1<<(FaceBackRightLEDOffset-LEDOffset); const LEDBitMask_t ModeLEDMask = 1<<(ModeLEDOffset-LEDOffset); const LEDBitMask_t BackLeft1LEDMask = 1<<(BackLeft1LEDOffset-LEDOffset); const LEDBitMask_t BackLeft2LEDMask = 1<<(BackLeft2LEDOffset-LEDOffset); const LEDBitMask_t BackLeft3LEDMask = 1<<(BackLeft3LEDOffset-LEDOffset); const LEDBitMask_t BackRight3LEDMask = 1<<(BackRight3LEDOffset-LEDOffset); const LEDBitMask_t BackRight2LEDMask = 1<<(BackRight2LEDOffset-LEDOffset); const LEDBitMask_t BackRight1LEDMask = 1<<(BackRight1LEDOffset-LEDOffset); const LEDBitMask_t TailLeftLEDMask = 1<<(TailLeftLEDOffset-LEDOffset); const LEDBitMask_t TailCenterLEDMask = 1<<(TailCenterLEDOffset-LEDOffset); const LEDBitMask_t TailRightLEDMask = 1<<(TailRightLEDOffset-LEDOffset); const LEDBitMask_t FaceFrontBLEDMask = 1<<(FaceFrontBLEDOffset-LEDOffset); const LEDBitMask_t FaceFrontALEDMask = 1<<(FaceFrontALEDOffset-LEDOffset); const LEDBitMask_t FaceFrontCLEDMask = 1<<(FaceFrontCLEDOffset-LEDOffset); const LEDBitMask_t RetractableHeadLEDMask = 1<<(RetractableHeadLEDOffset-LEDOffset); // aliases for backward compatibility 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 //! LEDs for face const LEDBitMask_t FaceLEDMask = FaceFrontLeftLEDMask | FaceFrontRightLEDMask | FaceCenterLeftLEDMask | FaceCenterRightLEDMask | FaceBackLeftLEDMask | FaceBackRightLEDMask | FaceFrontALEDMask | FaceFrontBLEDMask | FaceFrontCLEDMask | ModeLEDMask; //! LEDs on head (face plus retractable light) const LEDBitMask_t HeadLEDMask = FaceLEDMask | RetractableHeadLEDMask; //! LEDs on back const LEDBitMask_t BackLEDMask = BackLeft1LEDMask | BackLeft2LEDMask | BackLeft3LEDMask | BackRight1LEDMask | BackRight2LEDMask | BackRight3LEDMask; //! LEDs for tail const LEDBitMask_t TailLEDMask = TailLeftLEDMask | TailCenterLEDMask | TailRightLEDMask; //! 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 PowerSourceID::PauseSID. * * @see WorldState::buttons @see ButtonSourceID_t */ enum ButtonOffset_t { LFrPawOffset = LFrLegOrder, RFrPawOffset = RFrLegOrder, LBkPawOffset = LBkLegOrder, RBkPawOffset = RBkLegOrder, ChinButOffset= 4, BackButOffset, HeadFrButOffset, //!< for the "antenna" - this is <.2 if pushed back all the way HeadButOffset=HeadFrButOffset, //!< for ERS-7 compatibility HeadBkButOffset, //!< for the "antenna" - this is >.98 if pulled forward, <.2 if pushed back partly TailLeftButOffset, TailCenterButOffset, TailRightButOffset, }; //! Provides a string name for each button const char* const buttonNames[NumButtons] = { "LFrPaw","RFrPaw","LBkPaw","RBkPaw", "ChinBut","BackBut","HeadFrBut","HeadBkBut", "TailLeftBut","TailCenterBut","TailRightBut" }; //! holds offset to different sensor values in WorldState::sensors[] /*! @see WorldState::sensors[] */ enum SensorOffset_t { IRDistOffset = 0, //!< in millimeters 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... 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?) }; //! Provides a string name for each sensor const char* const sensorNames[NumSensors] = { "IRDist", "BAccel","LAccel","DAccel", "Thermo", "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:roll", "LED:botL~", "LED:botR~", "LED:midL~", "LED:midR~", "LED:topL~", "LED:topR~", "LED:topBr", "LED:bkL1~", // "LED:tlBlu" of ERS-210 "LED:bkL2~", // "LED:tlRed" of ERS-210 "LED:bkL3~", "LED:bkR3~", "LED:bkR2~", "LED:bkR1~", "LED:tailL", "LED:tailC", "LED:tailR", "LED:faceB", "LED:faceA", "LED:faceC", "LED:light", // retractable head light }; //! 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:j1", //!< the left front leg the rotator "PRM:/r2/c1/c2-Joint2:j2", //!< the left front leg the elevator "PRM:/r2/c1/c2/c3-Joint2:j3", //!< the left front leg the knee "PRM:/r4/c1-Joint2:j1", //!< the right front leg the rotator "PRM:/r4/c1/c2-Joint2:j2", //!< the right front leg the elevator "PRM:/r4/c1/c2/c3-Joint2:j3", //!< the right front leg the knee "PRM:/r3/c1-Joint2:j1", //!< the left hind leg the rotator "PRM:/r3/c1/c2-Joint2:j2", //!< the left hind leg the elevator "PRM:/r3/c1/c2/c3-Joint2:j3", //!< the left hind leg the knee "PRM:/r5/c1-Joint2:j1", //!< the right hind leg the rotator "PRM:/r5/c1/c2-Joint2:j2", //!< the right hind leg the elevator "PRM:/r5/c1/c2/c3-Joint2:j3", //!< the right hind leg the knee "PRM:/r1/c1-Joint2:j1", //!< the neck tilt (12) "PRM:/r1/c1/c2-Joint2:j2", //!< the neck pan "PRM:/r1/c1/c2/c3-Joint2:j3", //!< the neck roll "PRM:/r1/c1/c2/c3/l1-LED2:l1", //!< lower left LED (15) "PRM:/r1/c1/c2/c3/l4-LED2:l4", //!< lower right LED "PRM:/r1/c1/c2/c3/l2-LED2:l2", //!< middle left LED "PRM:/r1/c1/c2/c3/l5-LED2:l5", //!< middle right LED "PRM:/r1/c1/c2/c3/l3-LED2:l3", //!< upper left LED "PRM:/r1/c1/c2/c3/l6-LED2:l6", //!< upper right LED "PRM:/r1/c1/c2/c3/l7-LED2:l7", //!< top LED "PRM:/r6/l1-LED2:l1", //!< back 1st left LED (corresponds to tail blue LED of ERS-210) "PRM:/r6/l2-LED2:l2", //!< back 2nd left LED (corresponds to tail red LED of ERS-210) "PRM:/r6/l3-LED2:l3", //!< back 3rd left LED "PRM:/r6/l4-LED2:l4", //!< back 3rd right LED "PRM:/r6/l5-LED2:l5", //!< back 2nd right LED "PRM:/r6/l6-LED2:l6", //!< back 1st right LED "PRM:/r6/l9-LED2:l9", //!< tail left LED "PRM:/r6/l7-LED2:l7", //!< tail center LED "PRM:/r6/l8-LED2:l8", //!< tail right LED "PRM:/r1/c1/c2/c3/l8-LED2:l8", //!< face front LED B "PRM:/r1/c1/c2/c3/l9-LED2:l9", //!< face front LED A "PRM:/r1/c1/c2/c3/la-LED2:la", //!< face front LED C "PRM:/r1/c1/c2/c3/lb-LED2:lb", //!< retractable head light }; //! use to open speaker connectio with the system const char* const SpeakerLocator="PRM:/r1/c1/c2/c3/s1-Speaker:S1"; //! use to open camera connection with the system const char* const CameraLocator="PRM:/r1/c1/c2/c3/i1-FbkImageSensor:F1"; //Old PID table: /*const word Pid[NumPIDJoints][6] = { { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F }, { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F }, { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F }, { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F }, { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F }, { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F }, { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F }, { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F }, { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F }, { 0x16, 0x04, 0x08, 0x0E, 0x02, 0x0F }, { 0x14, 0x04, 0x06, 0x0E, 0x02, 0x0F }, { 0x23, 0x04, 0x05, 0x0E, 0x02, 0x0F }, { 0x0A, 0x08, 0x0C, 0x0E, 0x02, 0x0F }, { 0x0D, 0x08, 0x0B, 0x0E, 0x02, 0x0F }, { 0x10, 0x08, 0x0C, 0x0E, 0x02, 0x0F }, // P was 0x0C, updated as seen on https://www.openr.org/page1_2001/gain.html 8/13/2002 { 0x0A, 0x00, 0x18, 0x0E, 0x02, 0x0F }, { 0x07, 0x00, 0x11, 0x0E, 0x02, 0x0F }, { 0x0E, 0x08, 0x10, 0x0E, 0x02, 0x0F }, // { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, };*/ //! This table holds the default PID values for each joint. see PIDMC const float DefaultPIDs[NumPIDJoints][3] = { { 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)) } }; //! These will control the shift values given to the system. see PIDMC const unsigned char DefaultPIDShifts[3] = {0x0E, 0x02, 0x0F}; //!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 is (as of v1.6) the only included MotionCommand to actually use these values. */ const float MaxOutputSpeed[NumOutputs] = { 2.8143434e-03, //Legs LR,FB,REK 2.4980025e-03, 2.8361600e-03, 2.8143434e-03, 2.4980025e-03, 2.8361600e-03, 2.8143434e-03, 2.4980025e-03, 2.8361600e-03, 2.8143434e-03, 2.4980025e-03, 2.8361600e-03, 2.1053034e-03, //Head TPR 3.0106930e-03, 3.0106930e-03, 0,0,0,//LEDs 0,0,0, 0, 0,0,0, 0,0,0, 0,0,0, 0,0,0, 0 }; #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 //! This table holds the software limits of each of the outputs const double outputRanges[NumOutputs][2] = { { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //left front REK { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //right front REK { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //left back REK { RAD(-117),RAD(117) },{ RAD(-11),RAD(89) },{ RAD(-27),RAD(147) }, //right back REK { RAD(-88.5),RAD(43) },{ RAD(-89.6),RAD(89.6) },{ RAD(-29),RAD(29) }, //neck TPR {0,1},{0,1},{0,1}, // face left side LEDs x3 {0,1},{0,1},{0,1}, // face right side LEDs x3 {0,1}, // head mode LED x1 {0,1},{0,1},{0,1}, // back left multi LEDs x3 {0,1},{0,1},{0,1}, // back right multi LEDs x3 {0,1},{0,1},{0,1}, // tail LEDs x3 {0,1},{0,1},{0,1}, // face front LEDs x3 {0,1} // retractable head light x1 }; //! This table holds the mechanical limits of each of the outputs const double mechanicalLimits[NumOutputs][2] = { { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //left front jsk { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //right front jsk { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //left back jsk { RAD(-120),RAD(120) },{ RAD(-14),RAD(92) },{ RAD(-30),RAD(150) }, //right back jsk { RAD(-91.5),RAD(46) },{ RAD(-92.6),RAD(92.6) },{ RAD(-32),RAD(32) }, //neck tpr {0,1},{0,1},{0,1}, // face left side LEDs x3 {0,1},{0,1},{0,1}, // face right side LEDs x3 {0,1}, // head mode LED x1 {0,1},{0,1},{0,1}, // back left multi LEDs x3 {0,1},{0,1},{0,1}, // back right multi LEDs x3 {0,1},{0,1},{0,1}, // tail LEDs x3 {0,1},{0,1},{0,1}, // face front LEDs x3 {0,1} // retractable head light x1 }; #ifdef __RI_RAD_FLAG #undef RAD #undef __RI_RAD_FLAG #endif #endif //TGT_ERS2xx check /*! @name CPC IDs * values defined by OPEN-R, used to interface with lower level OPEN-R code to read sensors - DOESN'T correspond to ERS220Info::PrimitiveName */ static const int CPCJointNeckTilt = 0; // PRM:/r1/c1-Joint2:j1 static const int CPCJointNeckPan = 1; // PRM:/r1/c1/c2-Joint2:j2 static const int CPCJointNeckRoll = 2; // PRM:/r1/c1/c2/c3-Joint2:j3 static const int CPCSensorPSD = 3; // PRM:/r1/c1/c2/c3/p1-Sensor:p1 static const int CPCSensorHeadBackPressure = 4; // PRM:/r1/c1/c2/c3/f1-Sensor:f1 static const int CPCSensorHeadFrontPressure = 5; // PRM:/r1/c1/c2/c3/f2-Sensor:f2 static const int CPCSensorChinSwitch = 6; // PRM:/r1/c1/c2/c3/c4/s5-Sensor:s5 static const int CPCJointLFRotator = 7; // PRM:/r2/c1-Joint2:j1 static const int CPCJointLFElevator = 8; // PRM:/r2/c1/c2-Joint2:j2 static const int CPCJointLFKnee = 9; // PRM:/r2/c1/c2/c3-Joint2:j3 static const int CPCSensorLFPaw = 10; // PRM:/r2/c1/c2/c3/c4-Sensor:s4 static const int CPCJointLHRotator = 11; // PRM:/r3/c1-Joint2:j1 static const int CPCJointLHElevator = 12; // PRM:/r3/c1/c2-Joint2:j2 static const int CPCJointLHKnee = 13; // PRM:/r3/c1/c2/c3-Joint2:j3 static const int CPCSensorLHPaw = 14; // PRM:/r3/c1/c2/c3/c4-Sensor:s4 static const int CPCJointRFRotator = 15; // PRM:/r4/c1-Joint2:j1 static const int CPCJointRFElevator = 16; // PRM:/r4/c1/c2-Joint2:j2 static const int CPCJointRFKnee = 17; // PRM:/r4/c1/c2/c3-Joint2:j3 static const int CPCSensorRFPaw = 18; // PRM:/r4/c1/c2/c3/c4-Sensor:s4 static const int CPCJointRHRotator = 19; // PRM:/r5/c1-Joint2:j1 static const int CPCJointRHElevator = 20; // PRM:/r5/c1/c2-Joint2:j2 static const int CPCJointRHKnee = 21; // PRM:/r5/c1/c2/c3-Joint2:j3 static const int CPCSensorRHPaw = 22; // PRM:/r5/c1/c2/c3/c4-Sensor:s4 static const int CPCSensorThermoSensor = 23; // PRM:/r6/t1-Sensor:t1 static const int CPCSensorBackSwitch = 24; // PRM:/r6/s1-Sensor:s1 static const int CPCSensorTailLeftSwitch = 25; // PRM:/r6/s2-Sensor:s2 (ERS-220 only) static const int CPCSensorTailCenterSwitch = 26; // PRM:/r6/s3-Sensor:s3 (ERS-220 only) static const int CPCSensorTailRightSwitch = 27; // PRM:/r6/s4-Sensor:s4 (ERS-220 only) static const int CPCSensorAccelFB = 28; // PRM:/a1-Sensor:a1 static const int CPCSensorAccelLR = 29; // PRM:/a2-Sensor:a2 static const int CPCSensorAccelUD = 30; // PRM:/a3-Sensor:a3 //@} } /*! @file * @brief Defines RobotInfo namespace for ERS-220 models, gives some information about the robot's capabilities, such as joint counts, offsets, names and PID values * @author Daishi MORI (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.27 $ * $State: Exp $ * $Date: 2006/10/04 02:41:51 $ */ #endif

Tekkotsu v3.0

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