rflex_info.h

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/*  RFLEX ROS Node constants
 *  David Lu!! - 2/2010
 *  Modified from Player Driver
 *
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2000
 *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
 *
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

#ifndef RFLEX_INFO_H
#define RFLEX_INFO_H

// Protocol information
static const int PROTOCOL_SIZE = 9;
static const int PACKET_CRC_START = 2;
static const int PACKET_CRC_OFFSET = 4;
// Packet data slots
static const int PACKET_PORT_BYTE = 2;
static const int PACKET_ID_BYTE = 3;
static const int PACKET_OPCODE_BYTE = 4;
static const int PACKET_SIZE_BYTE = 5;
static const int PACKET_DATA_START_BYTE = 6;

#define MAX_COMMAND_LENGTH             256
#define BUFFER_SIZE 1024

#define STD_TRANS_TORQUE    30000
#define STD_ROT_ACC         100000
#define STD_ROT_TORQUE      35000

#define SYS_PORT                 1
#define MOT_PORT                 2
#define JSTK_PORT                3
#define SONAR_PORT               4
#define DIO_PORT                 5
#define IR_PORT                  6

#define SYS_LCD_DUMP             0
#define SYS_STATUS               1

#define MOT_AXIS_GET_SYSTEM      0
#define MOT_AXIS_GET_MODEL       1
#define MOT_AXIS_GET_TARGET      2
#define MOT_AXIS_SET_LIMITS      3
#define MOT_AXIS_GET_LIMITS      4
#define MOT_AXIS_SET_POS_LIMITS  5
#define MOT_AXIS_GET_POS_LIMITS  6
#define MOT_AXIS_SET_DIR         7
#define MOT_AXIS_SET_POS         8
#define MOT_AXIS_GET_MODE        9
#define MOT_SET_DEFAULTS        10
#define MOT_BRAKE_SET           11
#define MOT_BRAKE_RELEASE       12
#define MOT_SYSTEM_REPORT       33
#define MOT_SYSTEM_REPORT_REQ   34
#define MOT_GET_NAXES           65
#define MOT_SET_GEARING         66
#define MOT_GET_GEARING         67
#define MOT_MOTOR_SET_MODE      68
#define MOT_MOTOR_GET_MODE      69
#define MOT_MOTOR_SET_PARMS     70
#define MOT_MOTOR_GET_PARMS     71
#define MOT_MOTOR_SET_LIMITS    72
#define MOT_MOTOR_GET_LIMITS    73
#define MOT_MOTOR_GET_DATA      74
#define MOT_AXIS_SET_PARMS      75
#define MOT_AXIS_GET_PARMS      76
#define MOT_AXIS_SET_PWM_LIMIT  77
#define MOT_AXIS_GET_PWM_LIMIT  78
#define MOT_AXIS_SET_PWM        79
#define MOT_AXIS_GET_PWM        80

#define SONAR_RUN                0
#define SONAR_GET_UPDATE         1
#define SONAR_REPORT             2

#define DIO_REPORTS_REQ          0
#define DIO_REPORT               1
#define DIO_GET_UPDATE           2
#define DIO_UPDATE               3
#define DIO_SET                  4

#define IR_RUN                   0
#define IR_REPORT                1

#define JSTK_GET_STATE               0

#define HEADING_HOME_ADDRESS 0x31
#define BUMPER_ADDRESS 0x40

#define SONAR_MAX_COUNT 224

// Escape codes used in the data packets
static const unsigned char NUL = 0;
static const unsigned char SOH = 1;
static const unsigned char STX = 2;
static const unsigned char ETX = 3;
static const unsigned char ESC = 27;

#endif