commands.h

Go to the documentation of this file.

// BSD 3-Clause License

// Copyright (c) 2015-2018, qbrobotics®
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:

// * Redistributions of source code must retain the above copyright notice, this
//   list of conditions and the following disclaimer.

// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.

// * Neither the name of the copyright holder nor the names of its
//   contributors may be used to endorse or promote products derived from
//   this software without specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef COM_COMMANDS_DEFINITIONS_H_INCLUDED
#define COM_COMMANDS_DEFINITIONS_H_INCLUDED

#define API_VERSION "v6.2.0"

//==============================================================================
//                                                                      COMMANDS
//==============================================================================


enum qbmove_command
{

//=========================================================     general commands

    CMD_PING                    = 0,    
    CMD_SET_ZEROS               = 1,    
    CMD_STORE_PARAMS            = 3,    
    CMD_STORE_DEFAULT_PARAMS    = 4,    
    CMD_RESTORE_PARAMS          = 5,    
    CMD_GET_INFO                = 6,    

    CMD_SET_VALUE               = 7,    
    CMD_GET_VALUE               = 8,    

    CMD_BOOTLOADER              = 9,    
    CMD_INIT_MEM                = 10,   
    CMD_CALIBRATE               = 11,   
    CMD_GET_PARAM_LIST          = 12,   
    CMD_HAND_CALIBRATE          = 13,   

//=========================================================     qbcommands

    CMD_ACTIVATE                = 128,  
    CMD_GET_ACTIVATE            = 129,  
    CMD_SET_INPUTS              = 130,  
    CMD_GET_INPUTS              = 131,  
    CMD_GET_MEASUREMENTS        = 132,  
    CMD_GET_CURRENTS            = 133,  
    CMD_GET_CURR_AND_MEAS       = 134,  
    CMD_SET_POS_STIFF           = 135,  
    CMD_GET_EMG                 = 136,  
    CMD_GET_VELOCITIES          = 137,  
    CMD_GET_COUNTERS            = 138,  
    CMD_GET_ACCEL               = 139,  
    CMD_GET_CURR_DIFF           = 140,  
    CMD_SET_CURR_DIFF           = 141,  
    CMD_SET_CUFF_INPUTS         = 142,  
    CMD_SET_WATCHDOG            = 143,  
    CMD_SET_BAUDRATE            = 144,  
    CMD_EXT_DRIVE               = 145,  
    CMD_GET_JOYSTICK            = 146,  
    CMD_SET_INPUTS_ACK          = 147   
};

//==============================================================================
//                                                                    PARAMETERS
//==============================================================================
enum qbmove_parameter
{

    PARAM_ID                     = 0,   
    PARAM_PID_CONTROL            = 1,   
    PARAM_STARTUP_ACTIVATION     = 2,   
    PARAM_INPUT_MODE             = 3,   

    PARAM_CONTROL_MODE           = 4,   
    PARAM_MEASUREMENT_OFFSET     = 5,   
    PARAM_MEASUREMENT_MULTIPLIER = 6,   
    PARAM_POS_LIMIT_FLAG         = 7,   
    PARAM_POS_LIMIT              = 8,   
    PARAM_MAX_STEP_POS           = 9,   
    PARAM_MAX_STEP_NEG           = 10,  
    PARAM_POS_RESOLUTION         = 11,  
    PARAM_CURRENT_LIMIT          = 12,  
    PARAM_EMG_CALIB_FLAG         = 13,  
    PARAM_EMG_THRESHOLD          = 14,  
    PARAM_EMG_MAX_VALUE          = 15,  
    PARAM_EMG_SPEED              = 16,  
    PARAM_PID_CURR_CONTROL       = 18,  
    PARAM_DOUBLE_ENC_ON_OFF      = 19,  
    PARAM_MOT_HANDLE_RATIO       = 20,  
    PARAM_MOTOR_SUPPLY           = 21,  
    PARAM_CURRENT_LOOKUP         = 23,  
    PARAM_DL_POS_PID             = 24,  
    PARAM_DL_CURR_PID            = 25   
};
//** \} */


//===================================================     resolution definitions

enum qbmove_resolution
{
    RESOLUTION_360      = 0,
    RESOLUTION_720      = 1,
    RESOLUTION_1440     = 2,
    RESOLUTION_2880     = 3,
    RESOLUTION_5760     = 4,
    RESOLUTION_11520    = 5,
    RESOLUTION_23040    = 6,
    RESOLUTION_46080    = 7,
    RESOLUTION_92160    = 8
};

//==============================================================     input modes

enum qbmove_input_mode
{
    INPUT_MODE_EXTERNAL = 0,            
    INPUT_MODE_ENCODER3 = 1,            
    INPUT_MODE_EMG_PROPORTIONAL = 2,    
    INPUT_MODE_EMG_INTEGRAL     = 3,    
    INPUT_MODE_EMG_FCFS         = 4,    
    INPUT_MODE_EMG_FCFS_ADV     = 5     
};

//============================================================     control modes

enum qbmove_control_mode {

    CONTROL_ANGLE           = 0,        
    CONTROL_PWM             = 1,        
    CONTROL_CURRENT         = 2,        
    CURR_AND_POS_CONTROL    = 3,        
    DEFLECTION_CONTROL      = 4,        
    DEFL_CURRENT_CONTROL    = 5         

};

//======================================================== motor supply voltage values

enum motor_supply_tipe {
    MAXON_24V               = 0,
    MAXON_12V               = 1
};
//====================================================     acknowledgment values
enum acknowledgment_values
{
    ACK_ERROR           = 0,
    ACK_OK              = 1
};

//==============================================    data types enumeration

enum data_types {
    TYPE_FLAG    = 0,       //A uint8 but with a menu
    TYPE_INT8    = 1,
    TYPE_UINT8   = 2,
    TYPE_INT16   = 3,
    TYPE_UINT16  = 4,
    TYPE_INT32   = 5,
    TYPE_UINT32  = 6,
    TYPE_FLOAT   = 7,
    TYPE_DOUBLE  = 8
};

#define PARAM_BYTE_SLOT     50      //Number of bytes reserved to param's information
#define PARAM_MENU_SLOT     150     //Number of bytes reserved to a param menu

//==============================================================================
//                                                                   INFORMATION
//==============================================================================
#define INFO_ALL        0 


// ----------------------------------------------------------------------------
#endif

/* [] END OF FILE */