#include <unistd.h>
Go to the source code of this file.
|
| enum | {
YPSPUR_FREE = 0x10,
YPSPUR_SERVO,
YPSPUR_OPENFREE,
YPSPUR_VEL = 0x20,
YPSPUR_LINE,
YPSPUR_CIRCLE,
YPSPUR_WHEEL_VEL,
YPSPUR_WHEEL_TORQUE,
YPSPUR_ORIENT = 0x30,
YPSPUR_SPIN = 0x40,
YPSPUR_STOP_LINE,
YPSPUR_STOP,
YPSPUR_WHEEL_ANGLE,
YPSPUR_SET_VEL = 0x50,
YPSPUR_SET_ANGVEL,
YPSPUR_SET_ACCEL,
YPSPUR_SET_ANGACCEL,
YPSPUR_SET_POS,
YPSPUR_SET_GL_GL,
YPSPUR_SET_TILT,
YPSPUR_ADJUST,
YPSPUR_SET_WHEEL_VEL,
YPSPUR_SET_WHEEL_ACCEL,
YPSPUR_GET_POS = 0x70,
YPSPUR_GET_VEL,
YPSPUR_NEAR_POS,
YPSPUR_NEAR_ANG,
YPSPUR_OVER_LINE,
YPSPUR_GET_WHEEL_VEL,
YPSPUR_GET_WHEEL_ANG,
YPSPUR_GET_FORCE,
YPSPUR_GET_VREF,
YPSPUR_GET_WHEEL_VREF,
YPSPUR_PARAM_SET = 0x100,
YPSPUR_PARAM_GET,
YPSPUR_PARAM_STATE,
YPSPUR_GET_WHEEL_TORQUE,
YPSPUR_FREEZE = 0x200,
YPSPUR_UNFREEZE,
YPSPUR_ISFREEZE,
YPSPUR_GETAD = 0x500,
YPSPUR_SETIODIR,
YPSPUR_SETIODATA,
YPSPUR_GET_ERROR_STATE,
YPSPUR_REQUEST_DEVICE_DUMP,
YPSPUR_JOINT_TORQUE = 0x800,
YPSPUR_JOINT_VEL,
YPSPUR_JOINT_ANG,
YPSPUR_JOINT_ANG_VEL,
YPSPUR_SET_JOINT_ACCEL = 0x810,
YPSPUR_SET_JOINT_VEL,
YPSPUR_GET_JOINT_VEL = 0x820,
YPSPUR_GET_JOINT_VREF,
YPSPUR_GET_JOINT_ANG,
YPSPUR_GET_JOINT_TORQUE
} |
| |
| enum | motor_id { MOTOR_RIGHT = 0,
MOTOR_LEFT
} |
| |
| enum | YPSpur_cs {
CS_BS = 0,
CS_SP,
CS_GL,
CS_LC,
CS_FS,
CS_BL,
CS_MAX
} |
| |
| enum | YPSpur_param {
YP_PARAM_VERSION = 0,
YP_PARAM_TORQUE_UNIT,
YP_PARAM_TORQUE_FINENESS,
YP_PARAM_PWM_MAX,
YP_PARAM_COUNT_REV,
YP_PARAM_ENCODER_TYPE,
YP_PARAM_VOLT,
YP_PARAM_VOLT_MIN,
YP_PARAM_CYCLE,
YP_PARAM_GEAR,
YP_PARAM_MOTOR_R,
YP_PARAM_MOTOR_TC,
YP_PARAM_MOTOR_VC,
YP_PARAM_MOTOR_PHASE,
YP_PARAM_PHASE_OFFSET,
YP_PARAM_RADIUS,
YP_PARAM_RADIUS_R,
YP_PARAM_RADIUS_L,
YP_PARAM_TREAD,
YP_PARAM_CONTROL_CYCLE,
YP_PARAM_MAX_VEL,
YP_PARAM_MAX_W,
YP_PARAM_MAX_ACC_V,
YP_PARAM_MAX_ACC_W,
YP_PARAM_MAX_CENTRIFUGAL_ACC,
YP_PARAM_L_C1,
YP_PARAM_L_K1,
YP_PARAM_L_K2,
YP_PARAM_L_K3,
YP_PARAM_L_DIST,
YP_PARAM_GAIN_KP,
YP_PARAM_GAIN_KI,
YP_PARAM_TORQUE_MAX,
YP_PARAM_TORQUE_NEWTON,
YP_PARAM_TORQUE_VISCOS,
YP_PARAM_TORQUE_NEWTON_NEG,
YP_PARAM_TORQUE_VISCOS_NEG,
YP_PARAM_INTEGRAL_MAX,
YP_PARAM_TORQUE_OFFSET,
YP_PARAM_TORQUE_LIMIT,
YP_PARAM_MASS,
YP_PARAM_MOMENT_INERTIA,
YP_PARAM_MOTOR_M_INERTIA,
YP_PARAM_TIRE_M_INERTIA,
YP_PARAM_SIZE_FRONT,
YP_PARAM_SIZE_REAR,
YP_PARAM_SIZE_LEFT,
YP_PARAM_SIZE_RIGHT,
YP_PARAM_GAIN_A,
YP_PARAM_GAIN_B,
YP_PARAM_GAIN_C,
YP_PARAM_GAIN_D,
YP_PARAM_GAIN_E,
YP_PARAM_GAIN_F,
YP_PARAM_STOP_LINEAR,
YP_PARAM_SPIN_LINEAR,
YP_PARAM_WHEEL_ANG_LINEAR,
YP_PARAM_MIN_WHEEL_ANGLE,
YP_PARAM_MAX_WHEEL_ANGLE,
YP_PARAM_VEHICLE_CONTROL,
YP_PARAM_CONTROL_MODE_RESEND,
YP_PARAM_INERTIA_SELF,
YP_PARAM_INERTIA_CROSS,
YP_PARAM_ENCODER_DIV,
YP_PARAM_ENCODER_DENOMINATOR,
YP_PARAM_HALL_DELAY,
YP_PARAM_LR_CUTOFF_FREQ,
YP_PARAM_INDEX_RISE_ANGLE,
YP_PARAM_INDEX_FALL_ANGLE,
YP_PARAM_INDEX_GEAR,
YP_PARAM_DEVICE_TIMEOUT,
YP_PARAM_NUM
} |
| |
| enum | YPSpur_state {
YP_STATE_MOTOR = 0,
YP_STATE_VELOCITY,
YP_STATE_BODY,
YP_STATE_TRACKING,
YP_STATE_GRAVITY,
YP_STATE_NUM
} |
| |
| #define YP_PARAM_ALIAS_NUM 2 |
| #define YP_PARAM_MAX_MOTOR_NUM 16 |
| #define YP_PARAM_NECESSARY |
| #define YP_PARAM_REQUIRED_VERSION 4.0 |
| #define YP_PARAM_SUPPORTED_VERSION 5.0 |
| #define YPSPUR_MAX_SOCKET 64 |
| #define YPSPUR_MSG_SIZE (sizeof(YPSpur_msg) - sizeof(long)) |
| #define YPSPUR_MSQ_KEY 0x7045 |
| Enumerator |
|---|
| YPSPUR_FREE |
|
| YPSPUR_SERVO |
|
| YPSPUR_OPENFREE |
|
| YPSPUR_VEL |
|
| YPSPUR_LINE |
|
| YPSPUR_CIRCLE |
|
| YPSPUR_WHEEL_VEL |
|
| YPSPUR_WHEEL_TORQUE |
|
| YPSPUR_ORIENT |
|
| YPSPUR_SPIN |
|
| YPSPUR_STOP_LINE |
|
| YPSPUR_STOP |
|
| YPSPUR_WHEEL_ANGLE |
|
| YPSPUR_SET_VEL |
|
| YPSPUR_SET_ANGVEL |
|
| YPSPUR_SET_ACCEL |
|
| YPSPUR_SET_ANGACCEL |
|
| YPSPUR_SET_POS |
|
| YPSPUR_SET_GL_GL |
|
| YPSPUR_SET_TILT |
|
| YPSPUR_ADJUST |
|
| YPSPUR_SET_WHEEL_VEL |
|
| YPSPUR_SET_WHEEL_ACCEL |
|
| YPSPUR_GET_POS |
|
| YPSPUR_GET_VEL |
|
| YPSPUR_NEAR_POS |
|
| YPSPUR_NEAR_ANG |
|
| YPSPUR_OVER_LINE |
|
| YPSPUR_GET_WHEEL_VEL |
|
| YPSPUR_GET_WHEEL_ANG |
|
| YPSPUR_GET_FORCE |
|
| YPSPUR_GET_VREF |
|
| YPSPUR_GET_WHEEL_VREF |
|
| YPSPUR_PARAM_SET |
|
| YPSPUR_PARAM_GET |
|
| YPSPUR_PARAM_STATE |
|
| YPSPUR_GET_WHEEL_TORQUE |
|
| YPSPUR_FREEZE |
|
| YPSPUR_UNFREEZE |
|
| YPSPUR_ISFREEZE |
|
| YPSPUR_GETAD |
|
| YPSPUR_SETIODIR |
|
| YPSPUR_SETIODATA |
|
| YPSPUR_GET_ERROR_STATE |
|
| YPSPUR_REQUEST_DEVICE_DUMP |
|
| YPSPUR_JOINT_TORQUE |
|
| YPSPUR_JOINT_VEL |
|
| YPSPUR_JOINT_ANG |
|
| YPSPUR_JOINT_ANG_VEL |
|
| YPSPUR_SET_JOINT_ACCEL |
|
| YPSPUR_SET_JOINT_VEL |
|
| YPSPUR_GET_JOINT_VEL |
|
| YPSPUR_GET_JOINT_VREF |
|
| YPSPUR_GET_JOINT_ANG |
|
| YPSPUR_GET_JOINT_TORQUE |
|
Definition at line 45 of file ypparam.h.
| Enumerator |
|---|
| MOTOR_RIGHT |
|
| MOTOR_LEFT |
|
Definition at line 451 of file ypparam.h.
メッセージ関連
| Enumerator |
|---|
| CS_BS |
|
| CS_SP |
|
| CS_GL |
|
| CS_LC |
|
| CS_FS |
|
| CS_BL |
|
| CS_MAX |
|
Definition at line 488 of file ypparam.h.
| Enumerator |
|---|
| YP_PARAM_VERSION |
|
| YP_PARAM_TORQUE_UNIT |
|
| YP_PARAM_TORQUE_FINENESS |
|
| YP_PARAM_PWM_MAX |
|
| YP_PARAM_COUNT_REV |
|
| YP_PARAM_ENCODER_TYPE |
|
| YP_PARAM_VOLT |
|
| YP_PARAM_VOLT_MIN |
|
| YP_PARAM_CYCLE |
|
| YP_PARAM_GEAR |
|
| YP_PARAM_MOTOR_R |
|
| YP_PARAM_MOTOR_TC |
|
| YP_PARAM_MOTOR_VC |
|
| YP_PARAM_MOTOR_PHASE |
|
| YP_PARAM_PHASE_OFFSET |
|
| YP_PARAM_RADIUS |
|
| YP_PARAM_RADIUS_R |
|
| YP_PARAM_RADIUS_L |
|
| YP_PARAM_TREAD |
|
| YP_PARAM_CONTROL_CYCLE |
|
| YP_PARAM_MAX_VEL |
|
| YP_PARAM_MAX_W |
|
| YP_PARAM_MAX_ACC_V |
|
| YP_PARAM_MAX_ACC_W |
|
| YP_PARAM_MAX_CENTRIFUGAL_ACC |
|
| YP_PARAM_L_C1 |
|
| YP_PARAM_L_K1 |
|
| YP_PARAM_L_K2 |
|
| YP_PARAM_L_K3 |
|
| YP_PARAM_L_DIST |
|
| YP_PARAM_GAIN_KP |
|
| YP_PARAM_GAIN_KI |
|
| YP_PARAM_TORQUE_MAX |
|
| YP_PARAM_TORQUE_NEWTON |
|
| YP_PARAM_TORQUE_VISCOS |
|
| YP_PARAM_TORQUE_NEWTON_NEG |
|
| YP_PARAM_TORQUE_VISCOS_NEG |
|
| YP_PARAM_INTEGRAL_MAX |
|
| YP_PARAM_TORQUE_OFFSET |
|
| YP_PARAM_TORQUE_LIMIT |
|
| YP_PARAM_MASS |
|
| YP_PARAM_MOMENT_INERTIA |
|
| YP_PARAM_MOTOR_M_INERTIA |
|
| YP_PARAM_TIRE_M_INERTIA |
|
| YP_PARAM_SIZE_FRONT |
|
| YP_PARAM_SIZE_REAR |
|
| YP_PARAM_SIZE_LEFT |
|
| YP_PARAM_SIZE_RIGHT |
|
| YP_PARAM_GAIN_A |
|
| YP_PARAM_GAIN_B |
|
| YP_PARAM_GAIN_C |
|
| YP_PARAM_GAIN_D |
|
| YP_PARAM_GAIN_E |
|
| YP_PARAM_GAIN_F |
|
| YP_PARAM_STOP_LINEAR |
|
| YP_PARAM_SPIN_LINEAR |
|
| YP_PARAM_WHEEL_ANG_LINEAR |
|
| YP_PARAM_MIN_WHEEL_ANGLE |
|
| YP_PARAM_MAX_WHEEL_ANGLE |
|
| YP_PARAM_VEHICLE_CONTROL |
|
| YP_PARAM_CONTROL_MODE_RESEND |
|
| YP_PARAM_INERTIA_SELF |
|
| YP_PARAM_INERTIA_CROSS |
|
| YP_PARAM_ENCODER_DIV |
|
| YP_PARAM_ENCODER_DENOMINATOR |
|
| YP_PARAM_HALL_DELAY |
|
| YP_PARAM_LR_CUTOFF_FREQ |
|
| YP_PARAM_INDEX_RISE_ANGLE |
|
| YP_PARAM_INDEX_FALL_ANGLE |
|
| YP_PARAM_INDEX_GEAR |
|
| YP_PARAM_DEVICE_TIMEOUT |
|
| YP_PARAM_NUM |
パラメータの最大値
|
Definition at line 118 of file ypparam.h.
| Enumerator |
|---|
| YP_STATE_MOTOR |
|
| YP_STATE_VELOCITY |
|
| YP_STATE_BODY |
|
| YP_STATE_TRACKING |
|
| YP_STATE_GRAVITY |
|
| YP_STATE_NUM |
|
Definition at line 476 of file ypparam.h.
| const char YPSpur_CSName[CS_MAX][16] |
|
static |
Initial value:= {
{ "BS" },
{ "SP" },
{ "GL" },
{ "LC" },
{ "FS" },
{ "BL" },
}
Definition at line 499 of file ypparam.h.
