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Macros
#define	API_VERSION "7.1.0"

#define	PARAM_BYTE_SLOT 50

#define	PARAM_MENU_SLOT 150

qbrobotics device information types
#define	GET_SD_DATA 3
	Read Usage Data from SD file. More...

#define	GET_SD_PARAM 2
	Read Firmware Parameters from SD file. More...

#define	INFO_ALL 0
	All system information. More...

#define	INFO_READING 1
	Cycles information. More...

Enumerations
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, TYPE_STRING = 9 }

enum	motor_supply_tipe { MAXON_24V = 0, MAXON_12V = 1 }

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	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_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 }

qbrobotics device commands
enum	additional_command { CMD_GET_IMU_READINGS = 161, CMD_GET_IMU_PARAM = 162, CMD_GET_ENCODER_CONF = 163, CMD_GET_ENCODER_RAW = 164, CMD_GET_ADC_CONF = 165, CMD_GET_ADC_RAW = 166 }

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, CMD_SET_SYNERGIES = 148, CMD_GET_SYNERGIES = 149, CMD_GET_CYCLE_TIME = 150 }

qbrobotics device 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 }

Macro Definition Documentation

◆ API_VERSION

#define API_VERSION "7.1.0"

Definition at line 31 of file qbrobotics_research_commands.h.

◆ GET_SD_DATA

#define GET_SD_DATA 3

Read Usage Data from SD file.

Definition at line 41 of file qbrobotics_research_commands.h.

◆ GET_SD_PARAM

#define GET_SD_PARAM 2

Read Firmware Parameters from SD file.

Definition at line 40 of file qbrobotics_research_commands.h.

◆ INFO_ALL

#define INFO_ALL 0

All system information.

Definition at line 38 of file qbrobotics_research_commands.h.

◆ INFO_READING

#define INFO_READING 1

Cycles information.

Definition at line 39 of file qbrobotics_research_commands.h.

◆ PARAM_BYTE_SLOT

#define PARAM_BYTE_SLOT 50

Definition at line 33 of file qbrobotics_research_commands.h.

◆ PARAM_MENU_SLOT

#define PARAM_MENU_SLOT 150

Definition at line 34 of file qbrobotics_research_commands.h.

Enumeration Type Documentation

◆ acknowledgment_values

enum acknowledgment_values

Enumerator
ACK_ERROR
ACK_OK

Definition at line 171 of file qbrobotics_research_commands.h.

◆ additional_command

enum additional_command

Enumerator
CMD_GET_IMU_READINGS	Retrieve accelerometers, gyroscopes and magnetometers readings.
CMD_GET_IMU_PARAM	Retrieve and set IMU parameters.
CMD_GET_ENCODER_CONF	Get encoder configuration.
CMD_GET_ENCODER_RAW	Get all encoder raw values.
CMD_GET_ADC_CONF	Get ADC configuration.
CMD_GET_ADC_RAW	Get ADC raw values.

Definition at line 91 of file qbrobotics_research_commands.h.

◆ data_types

enum data_types

Enumerator
TYPE_FLAG
TYPE_INT8
TYPE_UINT8
TYPE_INT16
TYPE_UINT16
TYPE_INT32
TYPE_UINT32
TYPE_FLOAT
TYPE_DOUBLE
TYPE_STRING

Definition at line 176 of file qbrobotics_research_commands.h.

◆ motor_supply_tipe

enum motor_supply_tipe

Enumerator
MAXON_24V
MAXON_12V

Definition at line 166 of file qbrobotics_research_commands.h.

◆ qbmove_command

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 default 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 baud rate 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)
CMD_SET_SYNERGIES	Command to set the synergies to SoftHand 2.
CMD_GET_SYNERGIES	Command to get the synergies of SoftHand 2.
CMD_GET_CYCLE_TIME	Command to get the device cycle time.

Definition at line 46 of file qbrobotics_research_commands.h.

◆ qbmove_control_mode

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 157 of file qbrobotics_research_commands.h.

◆ qbmove_input_mode

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 147 of file qbrobotics_research_commands.h.

◆ qbmove_parameter

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 104 of file qbrobotics_research_commands.h.

◆ qbmove_resolution

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 135 of file qbrobotics_research_commands.h.

Macros

Enumerations