corobot.h
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00001 /*
00002  *  Player - One Hell of a Robot Server
00003  *  Copyright (C) 2010 - CoroWare Technologies Inc
00004  *
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 
00022 #ifndef COROBOT_H
00023 #define COROBOT_H
00024 
00025 #ifdef __cplusplus
00026 extern "C"
00027 {
00028 #endif
00029 
00030 #include <limits.h>
00031 
00032 
00034 #define MSG_GRIPPER_STATE_OPEN   1
00035 #define MSG_GRIPPER_STATE_CLOSED   2
00036 #define MSG_GRIPPER_STATE_MOVING   3
00037 
00039 #define TICKS_PER_DEGREE  64
00040 #define TICKS_PER_RADIAN (180/M_PI)*TICKS_PER_DEGREE
00041 
00043 #define ORBITAF_DIAMETER 0.08255
00044 
00045 #define ORBITAF_HEIGHT   0.1143
00046 
00047 
00049 #define LOWER_ARM_LENGTH_INCHES 6.25
00050 
00051 #define UPPER_ARM_LENGTH_INCHES 8.00
00052 
00054 #define INCHES_TO_METERS 0.0254
00055 
00057 #define COROBOT_DIAMETER 0.30
00058 
00060 #define ANALOGARMSERVO_CENTER   1500
00061 
00063 #define ANALOGARMSERVO_RANGE    2000
00064 
00066 #define GRIPPERSERVO_CENTER     1500
00067 
00070 #define GRIPPERSERVO_RANGE      1000
00071 
00073 #define DIGITALARMSERVO_CENTER  1500
00074 
00077 #define DIGITALARMSERVO_RANGE   1500
00078 
00080 #define DRIVEMOTOR_CENTER       1470
00081 
00083 #define DRIVEMOTOR_RANGE        1000
00084 
00086 #ifndef MIN
00087 #define MIN(a,b) ((a < b) ? (a) : (b))
00088 #endif
00089 
00091 #ifndef MAX
00092 #define MAX(a,b) ((a > b) ? (a) : (b))
00093 #endif
00094 
00095 #ifdef __cplusplus
00096 }
00097 #endif
00098 
00099 #endif


corobot_teleop
Author(s): Morgan Cormier/Gang Li/mcormier@coroware.com
autogenerated on Tue Jan 7 2014 11:39:41