corobot.h File Reference

#include <limits.h>

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Defines
#define	ANALOGARMSERVO_CENTER   1500
#define	ANALOGARMSERVO_RANGE   2000
#define	COROBOT_DIAMETER   0.30
#define	DIGITALARMSERVO_CENTER   1500
#define	DIGITALARMSERVO_RANGE   1500
#define	DRIVEMOTOR_CENTER   1470
#define	DRIVEMOTOR_RANGE   1000
#define	GRIPPERSERVO_CENTER   1500
#define	GRIPPERSERVO_RANGE   1000
#define	INCHES_TO_METERS   0.0254
#define	LOWER_ARM_LENGTH_INCHES   6.25
#define	MAX(a, b)   ((a > b) ? (a) : (b))
#define	MIN(a, b)   ((a < b) ? (a) : (b))
#define	MSG_GRIPPER_STATE_CLOSED   2
#define	MSG_GRIPPER_STATE_MOVING   3
#define	MSG_GRIPPER_STATE_OPEN   1
#define	ORBITAF_DIAMETER   0.08255
#define	ORBITAF_HEIGHT   0.1143
#define	TICKS_PER_DEGREE   64
#define	TICKS_PER_RADIAN   (180/M_PI)*TICKS_PER_DEGREE
#define	UPPER_ARM_LENGTH_INCHES   8.00

---

Define Documentation

#define ANALOGARMSERVO_CENTER   1500

the pulse width considered to be STOP by the servo

Definition at line 60 of file corobot.h.

#define ANALOGARMSERVO_RANGE   2000

the range of the pulse with acceptable, centered at ANALOGARMSERVO_CENTER

Definition at line 63 of file corobot.h.

#define COROBOT_DIAMETER   0.30

approximate diameter of the robot (assumed as circle)

Definition at line 57 of file corobot.h.

#define DIGITALARMSERVO_CENTER   1500

the pulse width considered to be STOP by the servo

Definition at line 73 of file corobot.h.

#define DIGITALARMSERVO_RANGE   1500

the range of the pulse with acceptable, centered at DIGITALARMSERVO_CENTER

Definition at line 77 of file corobot.h.

#define DRIVEMOTOR_CENTER   1470

the pulse width considered to be STOP by the base

Definition at line 80 of file corobot.h.

#define DRIVEMOTOR_RANGE   1000

the range of the pulse with acceptable, centered at DRIVEMOTOR_CENTER

Definition at line 83 of file corobot.h.

#define GRIPPERSERVO_CENTER   1500

the pulse width considered to be STOP by the gripper servo

Definition at line 66 of file corobot.h.

#define GRIPPERSERVO_RANGE   1000

the range of the pulse with acceptable, centered at GRIPPERSERVO_CENTER

Definition at line 70 of file corobot.h.

#define INCHES_TO_METERS   0.0254

Constant for converting inches to meters

Definition at line 54 of file corobot.h.

#define LOWER_ARM_LENGTH_INCHES   6.25

the length in inches of the lower arm

Definition at line 49 of file corobot.h.

#define MAX	(		a,
			b
	)		((a > b) ? (a) : (b))

your standard MAX macro

Definition at line 92 of file corobot.h.

#define MIN	(		a,
			b
	)		((a < b) ? (a) : (b))

your standard MIN macro

Definition at line 87 of file corobot.h.

#define MSG_GRIPPER_STATE_CLOSED   2

Definition at line 35 of file corobot.h.

#define MSG_GRIPPER_STATE_MOVING   3

Definition at line 36 of file corobot.h.

#define MSG_GRIPPER_STATE_OPEN   1

constants sent on a topic to describe the gripper state

Definition at line 34 of file corobot.h.

#define ORBITAF_DIAMETER   0.08255

diameter of the logitech orbit camera

Definition at line 43 of file corobot.h.

#define ORBITAF_HEIGHT   0.1143

height of the logitech orbit camera

Definition at line 45 of file corobot.h.

#define TICKS_PER_DEGREE   64

constants for the ptz camera

Definition at line 39 of file corobot.h.

#define TICKS_PER_RADIAN   (180/M_PI)*TICKS_PER_DEGREE

Definition at line 40 of file corobot.h.

#define UPPER_ARM_LENGTH_INCHES   8.00

the length in inches of the upper arm

Definition at line 51 of file corobot.h.