motor_controller_data.h

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#ifndef __MCDC3006S_DATA_H__
#define __MCDC3006S_DATA_H__


#define BAUDRATE                    19200


// motors data
#define PULSES_PER_REV              2048.

// reduction factor in horizontal and vertical movement engine
#define NECK_VER_REDUCTION_FACTOR   178.
#define NECK_HOR_REDUCTION_FACTOR   111.

#define ARMS_REDUCTION_FACTOR       166.

// rev = pulses_per_rev * axis_reduction_factor
#define TOTAL_NECK_VER_REDUCTION    (PULSES_PER_REV * NECK_VER_REDUCTION_FACTOR)
#define TOTAL_NECK_HOR_REDUCTION    (PULSES_PER_REV * NECK_HOR_REDUCTION_FACTOR)

#define TOTAL_ARMS_REDUCTION        (PULSES_PER_REV * ARMS_REDUCTION_FACTOR)

// home position of the motors from the limit switch after the calibration in rads
#define NECK_HOR_HOME_POS           -1.0
#define NECK_VER_HOME_POS           -0.7


// semaphores
#define HOR_NECK_SEMAPHORE_FILE     "tmp/horNeckSemaphore"
#define VER_NECK_SEMAPHORE_FILE     "tmp/verNeckSemaphore"

#define LEFT_ARM_SEMAPHORE_FILE     "tmp/leftArmSemaphore"
#define RIGHT_ARM_SEMAPHORE_FILE    "tmp/rightArmSemaphore"


// joints data
enum neck_id {
    NECK_HOR = 0, NECK_VER
};

enum arm_id {
    ARM_LEFT = 0, ARM_RIGHT
};


#define NECK                       "neck"
#define ARM                        "arm"


#define TEST_DEVICE                     0


typedef struct odometry {
        // current position in rad
        double pos;
        // current velocity in rad/second
        double vel;
        // instant current (mA)
        int cur;
} odo_t;

#endif