Definitions for qbMove or qbHand commands, parameters and packages. More...

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Macros
#define	API_VERSION "v6.2.0"

QB Move Information Strings
#define	INFO_ALL 0
	All system information. More...

Enumerations
qbMove and qbHand Commands
enum	qbmove_command { 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, 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 }

qbMove and qbHand Parameters
#define	PARAM_BYTE_SLOT 50

#define	PARAM_MENU_SLOT 150

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 }

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 }

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 }

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 }

enum	motor_supply_tipe { MAXON_24V = 0, MAXON_12V = 1 }

enum	acknowledgment_values { ACK_ERROR = 0, ACK_OK = 1 }

enum	data_types { TYPE_FLAG = 0, TYPE_INT8 = 1, TYPE_UINT8 = 2, TYPE_INT16 = 3, TYPE_UINT16 = 4, TYPE_INT32 = 5, TYPE_UINT32 = 6, TYPE_FLOAT = 7, TYPE_DOUBLE = 8 }

Detailed Description

Definitions for qbMove or qbHand commands, parameters and packages.

This file is included in the qbMove and qbHand firmware, in its libraries and applications. It contains all definitions that are necessary for the contruction of communication packages.

It includes definitions for all of the device commands, parameters and also the size of answer packages.

Definition in file commands.h.

Macro Definition Documentation

#define API_VERSION "v6.2.0"

Definition at line 49 of file commands.h.

#define INFO_ALL 0

All system information.

Definition at line 257 of file commands.h.

#define PARAM_BYTE_SLOT 50

Definition at line 247 of file commands.h.

#define PARAM_MENU_SLOT 150

Definition at line 248 of file commands.h.

Enumeration Type Documentation

enum acknowledgment_values

Enumerator
ACK_ERROR
ACK_OK

Definition at line 227 of file commands.h.

enum data_types

Enumerator
TYPE_FLAG
TYPE_INT8
TYPE_UINT8
TYPE_INT16
TYPE_UINT16
TYPE_INT32
TYPE_UINT32
TYPE_FLOAT
TYPE_DOUBLE

Definition at line 235 of file commands.h.

enum motor_supply_tipe

Enumerator
MAXON_24V
MAXON_12V

Definition at line 222 of file commands.h.

enum qbmove_command

Enumerator
CMD_PING	Asks for a ping message.
CMD_SET_ZEROS	Command for setting the encoders zero position.
CMD_STORE_PARAMS	Stores all parameters in memory and loads them.
CMD_STORE_DEFAULT_PARAMS	Store current parameters as factory parameters.
CMD_RESTORE_PARAMS	Restore default factory parameters.
CMD_GET_INFO	Asks for a string of information about.
CMD_SET_VALUE	Not Used.
CMD_GET_VALUE	Not Used.
CMD_BOOTLOADER	Sets the bootloader modality to update the firmware.
CMD_INIT_MEM	Initialize the memory with the defalut values.
CMD_CALIBRATE	Starts the stiffness calibration of the qbMove.
CMD_GET_PARAM_LIST	Command to get the parameters list or to set a defined value chosen by the use.
CMD_HAND_CALIBRATE	Starts a series of opening and closures of the hand.
CMD_ACTIVATE	Command for activating/deactivating the device.
CMD_GET_ACTIVATE	Command for getting device activation state.
CMD_SET_INPUTS	Command for setting reference inputs.
CMD_GET_INPUTS	Command for getting reference inputs.
CMD_GET_MEASUREMENTS	Command for asking device's position measurements.
CMD_GET_CURRENTS	Command for asking device's current measurements.
CMD_GET_CURR_AND_MEAS	Command for asking device's measurements and currents.
CMD_SET_POS_STIFF	Not used in the softhand firmware.
CMD_GET_EMG	Command for asking device's emg sensors measurements.
CMD_GET_VELOCITIES	Command for asking device's velocity measurements.
CMD_GET_COUNTERS	Command for asking device's counters (mostly used for debugging sent commands)
CMD_GET_ACCEL	Command for asking device's acceleration measurements.
CMD_GET_CURR_DIFF	Command for asking device's current difference between a measured one and an estimated one (Only for SoftHand)
CMD_SET_CURR_DIFF	Command used to set current difference modality (Only for Cuff device)
CMD_SET_CUFF_INPUTS	Command used to set Cuff device inputs (Only for Cuff device)
CMD_SET_WATCHDOG	Command for setting watchdog timer or disable it.
CMD_SET_BAUDRATE	Command for setting baudrate of communication.
CMD_EXT_DRIVE	Command to set the actual measurements as inputs to another device (Only for Armslider device)
CMD_GET_JOYSTICK	Command to get the joystick measurements (Only for devices driven by a joystick)
CMD_SET_INPUTS_ACK	Command to set the device inputs and return an acknowledgment signal (needed for less comm. errors)

Definition at line 60 of file commands.h.

enum qbmove_control_mode

Enumerator
CONTROL_ANGLE	Classic position control.
CONTROL_PWM	Direct PWM value.
CONTROL_CURRENT	Current control.
CURR_AND_POS_CONTROL	Position and current control.
DEFLECTION_CONTROL	Deflection control.
DEFL_CURRENT_CONTROL	Deflection and current control.

Definition at line 209 of file commands.h.

enum qbmove_input_mode

Enumerator
INPUT_MODE_EXTERNAL	References through external commands (default)
INPUT_MODE_ENCODER3	Encoder 3 drives all inputs.
INPUT_MODE_EMG_PROPORTIONAL	Use EMG measure to proportionally drive the position of the motor 1.
INPUT_MODE_EMG_INTEGRAL	Use 2 EMG signals to drive motor position.
INPUT_MODE_EMG_FCFS	Use 2 EMG. First reaching threshold wins and its value defines hand closure
INPUT_MODE_EMG_FCFS_ADV	Use 2 EMG. First reaching threshold wins and its value defines hand closure Wait for both EMG to lower under threshold

Definition at line 191 of file commands.h.

enum qbmove_parameter

Enumerator
PARAM_ID	Device's ID number.
PARAM_PID_CONTROL	PID parameters.
PARAM_STARTUP_ACTIVATION	Start up activation byte.
PARAM_INPUT_MODE	Input mode.
PARAM_CONTROL_MODE	Choose the kind of control between position control, current control, direct PWM value or current+position control.
PARAM_MEASUREMENT_OFFSET	Adds a constant offset to the measurements.
PARAM_MEASUREMENT_MULTIPLIER	Adds a multiplier to the measurements.
PARAM_POS_LIMIT_FLAG	Enable/disable position limiting.
PARAM_POS_LIMIT	Position limit values \| int32 \| int32 \| int32 \| int32 \| \| INF_LIM_1 \| SUP_LIM_1 \| INF_LIM_2 \| SUP_LIM_2 \|.
PARAM_MAX_STEP_POS	Used to slow down movements for positive values.
PARAM_MAX_STEP_NEG	Used to slow down movements for negative values.
PARAM_POS_RESOLUTION	Angle resolution for inputs and measurements. Used during communication.
PARAM_CURRENT_LIMIT	Limit for absorbed current.
PARAM_EMG_CALIB_FLAG	Enable calibration on startup.
PARAM_EMG_THRESHOLD	Minimum value to have effect.
PARAM_EMG_MAX_VALUE	Maximum value of EMG.
PARAM_EMG_SPEED	Closure speed when using EMG.
PARAM_PID_CURR_CONTROL	PID current control.
PARAM_DOUBLE_ENC_ON_OFF	Double Encoder Y/N.
PARAM_MOT_HANDLE_RATIO	Multiplier between handle and motor.
PARAM_MOTOR_SUPPLY	Motor supply voltage of the hand.
PARAM_CURRENT_LOOKUP	Table of values used to calculate an estimated current of the SoftHand.
PARAM_DL_POS_PID	Double loop position PID.
PARAM_DL_CURR_PID	Double loop current PID.

Definition at line 133 of file commands.h.

enum qbmove_resolution

Enumerator
RESOLUTION_360
RESOLUTION_720
RESOLUTION_1440
RESOLUTION_2880
RESOLUTION_5760
RESOLUTION_11520
RESOLUTION_23040
RESOLUTION_46080
RESOLUTION_92160

Definition at line 176 of file commands.h.

Macros

Enumerations

qbMove and qbHand Parameters

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation