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00008 #ifndef ALLGROCANPROTOCOL_H_
00009 #define ALLGROCANPROTOCOL_H_
00010
00011
00012 #define ID_CMD_SET_SYSTEM_ON 0x01
00013 #define ID_CMD_SET_SYSTEM_OFF 0x02
00014 #define ID_CMD_SET_PERIOD 0x03
00015 #define ID_CMD_SET_MODE_JOINT 0x04
00016 #define ID_CMD_SET_MODE_TASK 0x05
00017 #define ID_CMD_SET_TORQUE_1 0x06
00018 #define ID_CMD_SET_TORQUE_2 0x07
00019 #define ID_CMD_SET_TORQUE_3 0x08
00020 #define ID_CMD_SET_TORQUE_4 0x09
00021 #define ID_CMD_SET_POSITION_1 0x0a
00022 #define ID_CMD_QUERY_STATE_DATA 0x0e
00023 #define ID_CMD_QUERY_CONTROL_DATA 0x0f
00024
00025 #define ID_COMMON 0x01
00026 #define ID_DEVICE_MAIN 0x02
00027 #define ID_DEVICE_SUB_01 0x03
00028 #define ID_DEVICE_SUB_02 0x04
00029 #define ID_DEVICE_SUB_03 0x05
00030 #define ID_DEVICE_SUB_04 0x06
00031
00032 enum eJointName
00033 {
00034 eJOINTNAME_INDEX_0,
00035 eJOINTNAME_INDEX_1,
00036 eJOINTNAME_INDEX_2,
00037 eJOINTNAME_INDEX_3,
00038 eJOINTNAME_MIDDLE_0,
00039 eJOINTNAME_MIDDLE_1,
00040 eJOINTNAME_MIDDLE_2,
00041 eJOINTNAME_MIDDLE_3,
00042 eJOINTNAME_PINKY_0,
00043 eJOINTNAME_PINKY_1,
00044 eJOINTNAME_PINKY_2,
00045 eJOINTNAME_PINKY_3,
00046 eJOINTNAME_THUMB_0,
00047 eJOINTNAME_THUMB_1,
00048 eJOINTNAME_THUMB_2,
00049 eJOINTNAME_THUMB_3,
00050 DOF_JOINTS
00051 };
00052
00053 #endif