definitions.h

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#ifndef __definitions_h
#define __definitions_h

// Definitions
#define MOTION_PORT 11000
#define SYSTEM_PORT 11001
#define BUFF_MAX 1023
#define QSIZE 20
#define JOINTSPEED 500 // 1000 = 10% motor speed
#define JOBNAME "PVARQ20"

// Commands
#define UNUSED 0
#define CMD_INIT_PVQ 1
#define CMD_ADD_POINT_PVQ 2
#define CMD_END_PVQ 3
#define CMD_HOLD 4
#define CMD_GET_FB_PULSE 5
#define CMD_GET_FB_SPEED 6
#define CMD_GET_TORQUE 7

// Reply Codes
#define RC_SUCCESS 1
#define RC_MP_ERROR 2
#define RC_AE 3 // already exists
#define RC_NOT_INIT 4
#define RC_MOTION_INTERRUPT 5

#include <vector>
#include <string>

namespace motoman
{
namespace parameters
{


class Parameters
{

public:

      static const int JOINT_SUFFIXES_SIZE = 12;

    static const std::string JOINT_SUFFIXES[JOINT_SUFFIXES_SIZE];



};

const std::string Parameters::JOINT_SUFFIXES[] = {"joint_s", "joint_l", "joint_e", "joint_u",
                                             "joint_r", "joint_b", "joint_t", "joint_8",
                                             "unused", "unused", "unused", "unused"};



} // parameters
} // motoman

#endif