Go to the documentation of this file.00001
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00007 #ifndef MOVEMENT_DEFINITIONS_H_
00008 #define MOVEMENT_DEFINITIONS_H_
00009
00010
00011 #define STOP 0
00012 #define ARM_FORWARD 1
00013 #define ARM_BACKWARD -1
00014 #define ARM_LEFT 1
00015 #define ARM_RIGHT -1
00016 #define ARM_UP 1
00017 #define ARM_DOWN -1
00018 #define CLAW_YAW_LEFT 1
00019 #define CLAW_YAW_RIGHT -1
00020 #define CLAW_PITCH_UP 1
00021 #define CLAW_PITCH_DOWN -1
00022 #define CLAW_ROLL_LEFT -1
00023 #define CLAW_ROLL_RIGHT 1
00024 #define CLAW_GRIP_OPEN 1
00025 #define CLAW_GRIP_CLOSE -1
00026 #define LIFT_UP -1
00027 #define LIFT_DOWN 1
00028
00029
00030 #define X 0 // Forward/backward
00031 #define Y 1 // Left/right
00032 #define Z 2 // Up/down
00033 #define YAW 3
00034 #define PITCH 4
00035 #define ROLL 5
00036 #define GRIP 6
00037 #define LIFT 7 // Not used with cartesian moves. Does not have a speed.
00038
00039
00040 #define CART_MV_ARR_SZ 7 // Cartesian movement array
00041 #define CONST_MV_ARR_SZ 8 // Constant movement array
00042 #define SPD_ARR_SZ 7 // Speed array
00043 #define FRM_ARR_SZ 8 // Can frame array
00044
00045
00046 const float ORIGIN_POSITION[] = { 15000.0f,
00047 -4500.0f,
00048 19000.0f,
00049 0.0f,
00050 0.0f,
00051 0.0f,
00052 -10000.0f };
00053
00054 const float FINAL_POSITION[][CART_MV_ARR_SZ] = { { 15000.0f,
00055 -4500.0f,
00056 19000.0f,
00057 0.0f,
00058 0.0f,
00059 0.0f,
00060 -10000.0f },
00061 { 8000.0f,
00062 -4500.0f,
00063 6000.0f,
00064 0.0f,
00065 0.0f,
00066 0.0f,
00067 -10000.0f } };
00068
00072 struct CartesianMove
00073 {
00074 float positions[CART_MV_ARR_SZ];
00075 int speeds[SPD_ARR_SZ];
00076 };
00077
00081 struct ConstantMove
00082 {
00083 int states[CONST_MV_ARR_SZ];
00084 int speeds[SPD_ARR_SZ];
00085 };
00086
00087 #endif