Classes | Macros | Enumerations
tactile_edc_ethercat_protocol.h File Reference
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Classes

struct  AUX_SPI_SENSOR
 
struct  TACTILE_SENSOR_BIOTAC_DATA_CONTENTS
 
union  TACTILE_SENSOR_MID_PROX
 
struct  TACTILE_SENSOR_PALM
 
union  TACTILE_SENSOR_STATUS_v1
 
union  TACTILE_SENSOR_STATUS_v2
 
struct  TACTILE_SENSOR_UNIBI_DATA_CONTENTS
 

Macros

#define TACTILE_DATA_LENGTH_BYTES_v1   16
 
#define TACTILE_DATA_LENGTH_BYTES_v2   32
 
#define TACTILE_DATA_LENGTH_WORDS_v1   (TACTILE_DATA_LENGTH_BYTES_v1/2)
 
#define TACTILE_DATA_LENGTH_WORDS_v2   (TACTILE_DATA_LENGTH_BYTES_v2/2)
 

Enumerations

enum  AUX_SENSOR_PROTOCOL_TYPE { AUX_SENSOR_PROTOCOL_TYPE_INVALID = 0x0000, AUX_SENSOR_PROTOCOL_TYPE_MCP3202 = 0x0001, AUX_SENSOR_PROTOCOL_TYPE_MCP3204 = 0x0002, AUX_SENSOR_PROTOCOL_TYPE_MCP3208 = 0x0003 }
 
enum  FROM_TACTILE_SENSOR_TYPE {
  TACTILE_SENSOR_TYPE_WHICH_SENSORS = 0xFFF9, TACTILE_SENSOR_TYPE_SAMPLE_FREQUENCY_HZ = 0xFFFA, TACTILE_SENSOR_TYPE_MANUFACTURER = 0xFFFB, TACTILE_SENSOR_TYPE_SERIAL_NUMBER = 0xFFFC,
  TACTILE_SENSOR_TYPE_SOFTWARE_VERSION = 0xFFFD, TACTILE_SENSOR_TYPE_PCB_VERSION = 0xFFFE, TACTILE_SENSOR_TYPE_RESET_COMMAND = 0xFFFF
}
 
enum  FROM_TACTILE_SENSOR_TYPE_BIOTAC {
  TACTILE_SENSOR_TYPE_BIOTAC_INVALID = 0x0000, TACTILE_SENSOR_TYPE_BIOTAC_PDC = 0x0001, TACTILE_SENSOR_TYPE_BIOTAC_TAC = 0x0002, TACTILE_SENSOR_TYPE_BIOTAC_TDC = 0x0003,
  TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_1 = 0x0004, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_2 = 0x0005, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_3 = 0x0006, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_4 = 0x0007,
  TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_5 = 0x0008, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_6 = 0x0009, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_7 = 0x000A, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_8 = 0x000B,
  TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_9 = 0x000C, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_10 = 0x000D, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_11 = 0x000E, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_12 = 0x000F,
  TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_13 = 0x0010, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_14 = 0x0011, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_15 = 0x0012, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_16 = 0x0013,
  TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_17 = 0x0014, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_18 = 0x0015, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_19 = 0x0016, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_20 = 0x0017,
  TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_21 = 0x0018, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_22 = 0x0019, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_23 = 0x001A, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_24 = 0x001B,
  FROM_TACTILE_SENSOR_TYPE_BIOTAC_NUM_VALUES = 0x001C
}
 
enum  FROM_TACTILE_SENSOR_TYPE_MCP320x { TACTILE_SENSOR_TYPE_MCP320x_INVALID = 0x0000, TACTILE_SENSOR_TYPE_MCP320x_TACTILE = 0x0001 }
 
enum  FROM_TACTILE_SENSOR_TYPE_PST3 { TACTILE_SENSOR_TYPE_PST3_PRESSURE_TEMPERATURE = 0x0000, TACTILE_SENSOR_TYPE_PST3_PRESSURE_RAW_ZERO_TRACKING = 0x0002, TACTILE_SENSOR_TYPE_PST3_DAC_VALUE = 0x0004 }
 
enum  FROM_TACTILE_SENSOR_TYPE_UBI0 { TACTILE_SENSOR_TYPE_UBI0_INVALID = 0x0000, TACTILE_SENSOR_TYPE_UBI0_TACTILE = 0x0001 }
 
enum  TACTILE_MID_PROX_SENSOR_NUMBERS {
  MID_0 = 0, MID_1 = 1, MID_2 = 2, MID_3 = 3,
  PROX_0 = 4, PROX_1 = 5, PROX_2 = 6, PROX_3 = 7
}
 
enum  TACTILE_SENSOR_PROTOCOL_TYPE {
  TACTILE_SENSOR_PROTOCOL_TYPE_INVALID = 0x0000, TACTILE_SENSOR_PROTOCOL_TYPE_PST3 = 0x0001, TACTILE_SENSOR_PROTOCOL_TYPE_BIOTAC_2_3 = 0x0002, TACTILE_SENSOR_PROTOCOL_TYPE_UBI0 = 0x0003,
  TACTILE_SENSOR_PROTOCOL_TYPE_CONFLICTING = 0xFFFF
}
 

Detailed Description

The term "Command" means data going from the ROS PC to the Node on the robot Previously known as "Incoming"

The term "Status" means data going from Node on the robot the to the ROS PC Previously known as "Outgoing"

Definition in file tactile_edc_ethercat_protocol.h.

Macro Definition Documentation

◆ TACTILE_DATA_LENGTH_BYTES_v1

#define TACTILE_DATA_LENGTH_BYTES_v1   16

Definition at line 53 of file tactile_edc_ethercat_protocol.h.

◆ TACTILE_DATA_LENGTH_BYTES_v2

#define TACTILE_DATA_LENGTH_BYTES_v2   32

Definition at line 171 of file tactile_edc_ethercat_protocol.h.

◆ TACTILE_DATA_LENGTH_WORDS_v1

#define TACTILE_DATA_LENGTH_WORDS_v1   (TACTILE_DATA_LENGTH_BYTES_v1/2)

Definition at line 54 of file tactile_edc_ethercat_protocol.h.

◆ TACTILE_DATA_LENGTH_WORDS_v2

#define TACTILE_DATA_LENGTH_WORDS_v2   (TACTILE_DATA_LENGTH_BYTES_v2/2)

Definition at line 172 of file tactile_edc_ethercat_protocol.h.

Enumeration Type Documentation

◆ AUX_SENSOR_PROTOCOL_TYPE

enum AUX_SENSOR_PROTOCOL_TYPE
Enumerator
AUX_SENSOR_PROTOCOL_TYPE_INVALID 

No supported sensors were found.

AUX_SENSOR_PROTOCOL_TYPE_MCP3202 

A basic MCP3202 ADC was found.

AUX_SENSOR_PROTOCOL_TYPE_MCP3204 

A basic MCP3204 ADC was found.

AUX_SENSOR_PROTOCOL_TYPE_MCP3208 

A basic MCP3208 ADC was found.

Definition at line 84 of file tactile_edc_ethercat_protocol.h.

◆ FROM_TACTILE_SENSOR_TYPE

enum FROM_TACTILE_SENSOR_TYPE
Enumerator
TACTILE_SENSOR_TYPE_WHICH_SENSORS 

Is this a PST, a BioTac, or what? Returns a TACTILE_SENSOR_PROTOCOL_TYPE.

TACTILE_SENSOR_TYPE_SAMPLE_FREQUENCY_HZ 

word[0] = frequency in Hz. currently only used by BioTacs

TACTILE_SENSOR_TYPE_MANUFACTURER 

e.g. "Shadow" or "Syntouch"

TACTILE_SENSOR_TYPE_SERIAL_NUMBER 

e.g. "PST3200110190001"

TACTILE_SENSOR_TYPE_SOFTWARE_VERSION 

e.g. "1825"

TACTILE_SENSOR_TYPE_PCB_VERSION 

e.g. "FB". Currently only used by BioTacs

TACTILE_SENSOR_TYPE_RESET_COMMAND 

Requesting this causes the tactile sensors to reset if they support it.

Definition at line 62 of file tactile_edc_ethercat_protocol.h.

◆ FROM_TACTILE_SENSOR_TYPE_BIOTAC

enum FROM_TACTILE_SENSOR_TYPE_BIOTAC
Enumerator
TACTILE_SENSOR_TYPE_BIOTAC_INVALID 
TACTILE_SENSOR_TYPE_BIOTAC_PDC 
TACTILE_SENSOR_TYPE_BIOTAC_TAC 
TACTILE_SENSOR_TYPE_BIOTAC_TDC 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_1 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_2 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_3 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_4 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_5 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_6 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_7 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_8 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_9 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_10 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_11 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_12 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_13 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_14 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_15 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_16 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_17 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_18 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_19 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_20 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_21 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_22 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_23 
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_24 
FROM_TACTILE_SENSOR_TYPE_BIOTAC_NUM_VALUES 

Definition at line 106 of file tactile_edc_ethercat_protocol.h.

◆ FROM_TACTILE_SENSOR_TYPE_MCP320x

enum FROM_TACTILE_SENSOR_TYPE_MCP320x
Enumerator
TACTILE_SENSOR_TYPE_MCP320x_INVALID 
TACTILE_SENSOR_TYPE_MCP320x_TACTILE 

Only one type of sensor.

Definition at line 141 of file tactile_edc_ethercat_protocol.h.

◆ FROM_TACTILE_SENSOR_TYPE_PST3

enum FROM_TACTILE_SENSOR_TYPE_PST3
Enumerator
TACTILE_SENSOR_TYPE_PST3_PRESSURE_TEMPERATURE 

0: Pressure. 1: Temperature

TACTILE_SENSOR_TYPE_PST3_PRESSURE_RAW_ZERO_TRACKING 

0: Raw pressure 1: Zero tracking

TACTILE_SENSOR_TYPE_PST3_DAC_VALUE 

0: DAC value 1: -—

Definition at line 93 of file tactile_edc_ethercat_protocol.h.

◆ FROM_TACTILE_SENSOR_TYPE_UBI0

enum FROM_TACTILE_SENSOR_TYPE_UBI0
Enumerator
TACTILE_SENSOR_TYPE_UBI0_INVALID 
TACTILE_SENSOR_TYPE_UBI0_TACTILE 

Only one type of sensor.

Definition at line 100 of file tactile_edc_ethercat_protocol.h.

◆ TACTILE_MID_PROX_SENSOR_NUMBERS

enum TACTILE_MID_PROX_SENSOR_NUMBERS
Enumerator
MID_0 
MID_1 
MID_2 
MID_3 
PROX_0 
PROX_1 
PROX_2 
PROX_3 

Definition at line 198 of file tactile_edc_ethercat_protocol.h.

◆ TACTILE_SENSOR_PROTOCOL_TYPE

enum TACTILE_SENSOR_PROTOCOL_TYPE
Enumerator
TACTILE_SENSOR_PROTOCOL_TYPE_INVALID 

No supported sensors were found.

TACTILE_SENSOR_PROTOCOL_TYPE_PST3 

Shadow's Pressure Tactile sensor, Hugo's firmware.

TACTILE_SENSOR_PROTOCOL_TYPE_BIOTAC_2_3 

Syntouch's BioTac sensor, version 2.3.

TACTILE_SENSOR_PROTOCOL_TYPE_UBI0 

Bielefeld's tactile sensor.

TACTILE_SENSOR_PROTOCOL_TYPE_CONFLICTING 

More than 1 type of sensor is connected to the hand! (Very unlikely to happen)

Definition at line 74 of file tactile_edc_ethercat_protocol.h.


sr_external_dependencies
Author(s): Ugo Cupcic
autogenerated on Mon Feb 28 2022 23:50:40