00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Yaskawa America, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Yaskawa America, Inc., nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef __definitions_h 00033 #define __definitions_h 00034 00035 // Definitions 00036 #define MOTION_PORT 11000 00037 #define SYSTEM_PORT 11001 00038 #define BUFF_MAX 1023 00039 #define QSIZE 20 00040 #define JOINTSPEED 500 // 1000 = 10% motor speed 00041 #define JOBNAME "PVARQ20" 00042 00043 // Commands 00044 #define UNUSED 0 00045 #define CMD_INIT_PVQ 1 00046 #define CMD_ADD_POINT_PVQ 2 00047 #define CMD_END_PVQ 3 00048 #define CMD_HOLD 4 00049 #define CMD_GET_FB_PULSE 5 00050 #define CMD_GET_FB_SPEED 6 00051 #define CMD_GET_TORQUE 7 00052 00053 // Reply Codes 00054 #define RC_SUCCESS 1 00055 #define RC_MP_ERROR 2 00056 #define RC_AE 3 // already exists 00057 #define RC_NOT_INIT 4 00058 #define RC_MOTION_INTERRUPT 5 00059 00060 #include <vector> 00061 #include <string> 00062 00063 namespace motoman 00064 { 00065 namespace parameters 00066 { 00067 00068 00075 class Parameters 00076 { 00077 00078 public: 00079 00085 static const int JOINT_SUFFIXES_SIZE = 12; 00086 00093 static const std::string JOINT_SUFFIXES[JOINT_SUFFIXES_SIZE]; 00094 00095 00096 00097 }; 00098 00099 const std::string Parameters::JOINT_SUFFIXES[] = {"joint_s", "joint_l", "joint_e", "joint_u", 00100 "joint_r", "joint_b", "joint_t", "joint_8", 00101 "unused", "unused", "unused", "unused"}; 00102 00103 00104 00105 } // parameters 00106 } // motoman 00107 00108 #endif