p2os_driver: p2os_driver: robot_params.h Source File

00001 /*
00002  *  P2OS for ROS
00003  *  Copyright (C) 2009
00004  *     David Feil-Seifer, Brian Gerkey, Kasper Stoy,
00005  *      Richard Vaughan, & Andrew Howard
00006  *
00007  *
00008  *  This program is free software; you can redistribute it and/or modify
00009  *  it under the terms of the GNU General Public License as published by
00010  *  the Free Software Foundation; either version 2 of the License, or
00011  *  (at your option) any later version.
00012  *
00013  *  This program is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016  *  GNU General Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License
00019  *  along with this program; if not, write to the Free Software
00020  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00021  *
00022  */
00023 
00024 /*
00025  * robot_params.h
00026  *
00027  * ActivMedia robot parameters, automatically generated by saphconv.tcl from
00028  * Saphira parameter files:
00029  *    amigo.p
00030  *    amigo-sh.p
00031  *    p2at.p
00032  *    p2at8+.p
00033  *    p2at8.p
00034  *    p2ce.p
00035  *    p2d8+.p
00036  *    p2d8.p
00037  *    p2de.p
00038  *    p2df.p
00039  *    p2dx.p
00040  *    p2it.p
00041  *    p2pb.p
00042  *    p2pp.p
00043  *    p3at-sh.p
00044  *    p3at.p
00045  *    p3atiw.p
00046  *    p3dx-sh.p
00047  *    p3dx.p
00048  *    peoplebot-sh.p
00049  *    perfpb+.p
00050  *    perfpb.p
00051  *    pion1m.p
00052  *    pion1x.p
00053  *    pionat.p
00054  *    powerbot-sh.p
00055  *    powerbot.p
00056  *    psos1m.p
00057  *    psos1x.p
00058 */
00059 
00060 #ifndef _ROBOT_PARAMS_H
00061 #define _ROBOT_PARAMS_H
00062 #include <string>
00063 
00064 void initialize_robot_params(void);
00065 
00066 
00067 #define PLAYER_NUM_ROBOT_TYPES 29
00068 
00069 // Default max speeds
00070 #define MOTOR_DEF_MAX_SPEED 0.5
00071 #define MOTOR_DEF_MAX_TURNSPEED DTOR(100)
00072 
00073 /*
00074  * Apparently, newer kernel require a large value (200000) here.  It only
00075  * makes the initialization phase take a bit longer, and doesn't have any
00076  * impact on the speed at which packets are received from P2OS
00077  */
00078 #define P2OS_CYCLETIME_USEC 200000
00079 
00080 /* p2os constants */
00081 
00082 #define P2OS_NOMINAL_VOLTAGE 12.0
00083 
00084 /* Command numbers */
00085 #define SYNC0 0
00086 #define SYNC1 1
00087 #define SYNC2 2
00088 
00089 enum P2OSCommand {
00090   PULSE = 0,
00091   OPEN = 1,
00092   CLOSE = 2,
00093   ENABLE = 4,
00094   SETA = 5,
00095   SETV = 6,
00096   SETO = 7,
00097   MOVE = 8, 
00098   ROTATE = 9, 
00099   SETRV = 10, 
00100   VEL = 11,
00101   HEAD = 12, 
00102   DHEAD = 13, 
00103   //DROTATE = 14, does not really exist
00104   SAY = 15, 
00106   JOYINFO = 17, // int, requests joystick packet, 0 to stop, 1 for 1, 2 for
00107                 // continuous
00108   CONFIG = 18, 
00109   ENCODER = 19, 
00110   RVEL = 21,
00111   DCHEAD = 22, 
00112   SETRA = 23,
00113   SONAR = 28,
00114   STOP = 29,
00115   DIGOUT = 30, 
00116   //TIMER = 31, ... no clue about this one
00117   VEL2 = 32,
00118   GRIPPER = 33,
00119   //KICK = 34, um...
00120   ADSEL = 35, 
00121   GRIPPERVAL = 36,
00122   GRIPPERPACREQUEST = 37, 
00123   IOREQUEST = 40, 
00124   PTUPOS = 41, 
00125   TTY2 = 42,   // Added in AmigOS 1.2
00126   GETAUX = 43, // Added in AmigOS 1.2
00127   BUMP_STALL = 44,
00128   TCM2 = 45, 
00129   JOYDRIVE = 47,
00130   MOVINGBLINK = 49, 
00131 
00132   HOSTBAUD = 50, 
00133 
00134   AUX1BAUD = 51, 
00135 
00136   AUX2BAUD = 52, 
00137 
00138   ESTOP = 55, 
00139   ESTALL = 56, // ?
00140   GYRO = 58,         // Added in AROS 1.8
00141   // SRISIM specific:
00142 
00143   // for calibrating the compass:
00144   CALCOMP = 65, 
00145 
00146   TTY3 = 66,   // Added in AmigOS 1.3
00147   GETAUX2 = 67,  // Added in AmigOS 1.3
00148   ARM_INFO = 70,
00149   ARM_STATUS = 71,
00150   ARM_INIT = 72,
00151   ARM_CHECK = 73,
00152   ARM_POWER = 74,
00153   ARM_HOME = 75,
00154   ARM_PARK = 76,
00155   ARM_POS = 77,
00156   ARM_SPEED = 78,
00157   ARM_STOP = 79,
00158   ARM_AUTOPARK = 80,
00159   ARM_GRIPPARK = 81,
00160 
00161   ROTKP = 82,        // Added in P2OS1.M
00162   ROTKV = 83,        // Added in P2OS1.M
00163   ROTKI = 84,        // Added in P2OS1.M
00164   TRANSKP = 85,      // Added in P2OS1.M
00165   TRANSKV = 86,      // Added in P2OS1.M
00166   TRANSKI = 87,      // Added in P2OS1.M
00167   SOUND = 90,
00168   PLAYLIST = 91,
00169   SOUNDTOG = 92, 
00170 
00171   // Power commands
00172   POWER_PC = 95,
00173   POWER_LRF = 96,
00174   POWER_5V = 97,
00175   POWER_12V = 98,
00176   POWER_24V = 98,
00177   POWER_AUX_PC = 125,
00178   POWER_TOUCHSCREEN = 126,
00179   POWER_PTZ = 127,
00180   POWER_AUDIO = 128,
00181   POWER_LRF2 = 129,
00182 
00183   // For SEEKUR or later lateral-capable robots
00184   LATVEL = 110, 
00185   LATACCEL = 113, 
00186 
00187   SETLATV = 0, 
00188 };
00189 
00190 /* Server Information Packet (SIP) types */
00191 #define STATUSSTOPPED 0x32
00192 #define STATUSMOVING  0x33
00193 #define ENCODER   0x90
00194 #define SERAUX    0xB0
00195 #define SERAUX2   0xB8  // Added in AmigOS 1.3
00196 #define GYROPAC         0x98    // Added AROS 1.8
00197 #define ARMPAC    160   // ARMpac
00198 #define ARMINFOPAC  161   // ARMINFOpac
00199 //#define PLAYLIST  0xD0
00200 
00201 /* Argument types */
00202 #define ARGINT    0x3B  // Positive int (LSB, MSB)
00203 #define ARGNINT   0x1B  // Negative int (LSB, MSB)
00204 #define ARGSTR    0x2B  // String (Note: 1st byte is length!!)
00205 
00206 /* gripper stuff */
00207 #define GRIPopen   1
00208 #define GRIPclose  2
00209 #define GRIPstop   3
00210 #define LIFTup     4
00211 #define LIFTdown   5
00212 #define LIFTstop   6
00213 #define GRIPstore  7
00214 #define GRIPdeploy 8
00215 #define GRIPhalt   15
00216 #define GRIPpress  16
00217 #define LIFTcarry  17
00218 
00219 /* CMUcam stuff */
00220 #define CMUCAM_IMAGE_WIDTH  80
00221 #define CMUCAM_IMAGE_HEIGHT 143
00222 #define CMUCAM_MESSAGE_LEN  10
00223 
00224 /* conection stuff */
00225 #define DEFAULT_P2OS_PORT "/dev/ttyS0"
00226 #define DEFAULT_P2OS_TCP_REMOTE_HOST "localhost"
00227 #define DEFAULT_P2OS_TCP_REMOTE_PORT 8101
00228 
00229 /* degrees and radians */
00230 #define DTOR(a) M_PI * a / 180.0
00231 #define RTOD(a) 180.0 * a / M_PI
00232 
00233 typedef struct
00234 {
00235   double x;
00236   double y;
00237   double th;
00238   double length;
00239   double radius;
00240 } bumper_def_t;
00241 
00242 typedef struct
00243 {
00244   double x;
00245   double y;
00246   double th;
00247 } sonar_pose_t;
00248 
00249 
00250 typedef struct
00251 {
00252   double AngleConvFactor; //
00253   std::string Class;
00254   double DiffConvFactor; //
00255   double DistConvFactor; //
00256   int FrontBumpers; //
00257   double GyroScaler; //
00258   int HasMoveCommand; //
00259   int Holonomic; //
00260   int IRNum; //
00261   int IRUnit; //
00262   int LaserFlipped; //
00263   std::string LaserIgnore;
00264   std::string LaserPort;
00265   int LaserPossessed; //
00266   int LaserPowerControlled; //
00267   int LaserTh; //
00268   int LaserX; //
00269   int LaserY; //
00270   int MaxRVelocity; //
00271   int MaxVelocity; //
00272   int NewTableSensingIR; //
00273   int NumFrontBumpers; //
00274   int NumRearBumpers; //
00275   double RangeConvFactor; //
00276   int RearBumpers; //
00277   int RequestEncoderPackets; //
00278   int RequestIOPackets; //
00279   int RobotDiagonal; //
00280   int RobotLength; //
00281   int RobotRadius; //
00282   int RobotWidth; //
00283   int RotAccel; //
00284   int RotDecel; //
00285   int RotVelMax; //
00286   int SettableAccsDecs; //
00287   int SettableVelMaxes; //
00288   int SonarNum; //
00289   std::string Subclass;
00290   int SwitchToBaudRate; //
00291   int TableSensingIR; //
00292   int TransAccel; //
00293   int TransDecel; //
00294   int TransVelMax; //
00295   int Vel2Divisor; //
00296   double VelConvFactor; //
00297   sonar_pose_t sonar_pose[32];
00298   //bumper_def_t bumper_geom[32];
00299 } RobotParams_t;
00300 
00301 
00302 extern RobotParams_t PlayerRobotParams[];
00303 
00304 
00305 #endif