#include <string>

Include dependency graph for robot_params.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	bumper_def_t
struct	RobotParams_t
struct	sonar_pose_t
Defines
#define	ARGINT 0x3B
#define	ARGNINT 0x1B
#define	ARGSTR 0x2B
#define	ARMINFOPAC 161
#define	ARMPAC 160
#define	CMUCAM_IMAGE_HEIGHT 143
#define	CMUCAM_IMAGE_WIDTH 80
#define	CMUCAM_MESSAGE_LEN 10
#define	DEFAULT_P2OS_PORT "/dev/ttyS0"
#define	DEFAULT_P2OS_TCP_REMOTE_HOST "localhost"
#define	DEFAULT_P2OS_TCP_REMOTE_PORT 8101
#define	DTOR(a) M_PI * a / 180.0
#define	ENCODER 0x90
#define	GRIPclose 2
#define	GRIPdeploy 8
#define	GRIPhalt 15
#define	GRIPopen 1
#define	GRIPpress 16
#define	GRIPstop 3
#define	GRIPstore 7
#define	GYROPAC 0x98
#define	LIFTcarry 17
#define	LIFTdown 5
#define	LIFTstop 6
#define	LIFTup 4
#define	MOTOR_DEF_MAX_SPEED 0.5
#define	MOTOR_DEF_MAX_TURNSPEED DTOR(100)
#define	P2OS_CYCLETIME_USEC 200000
#define	P2OS_NOMINAL_VOLTAGE 12.0
#define	PLAYER_NUM_ROBOT_TYPES 30
#define	RTOD(a) 180.0 * a / M_PI
#define	SERAUX 0xB0
#define	SERAUX2 0xB8
#define	STATUSMOVING 0x33
#define	STATUSSTOPPED 0x32
#define	SYNC0 0
#define	SYNC1 1
#define	SYNC2 2
Enumerations
enum	P2OSCommand { PULSE = 0, OPEN = 1, CLOSE = 2, ENABLE = 4, SETA = 5, SETV = 6, SETO = 7, MOVE = 8, ROTATE = 9, SETRV = 10, VEL = 11, HEAD = 12, DHEAD = 13, SAY = 15, JOYINFO = 17, CONFIG = 18, ENCODER = 19, RVEL = 21, DCHEAD = 22, SETRA = 23, SONAR = 28, STOP = 29, DIGOUT = 30, VEL2 = 32, GRIPPER = 33, ADSEL = 35, GRIPPERVAL = 36, GRIPPERPACREQUEST = 37, IOREQUEST = 40, PTUPOS = 41, TTY2 = 42, GETAUX = 43, BUMP_STALL = 44, TCM2 = 45, JOYDRIVE = 47, MOVINGBLINK = 49, HOSTBAUD = 50, AUX1BAUD = 51, AUX2BAUD = 52, ESTOP = 55, ESTALL = 56, GYRO = 58, CALCOMP = 65, TTY3 = 66, GETAUX2 = 67, ARM_INFO = 70, ARM_STATUS = 71, ARM_INIT = 72, ARM_CHECK = 73, ARM_POWER = 74, ARM_HOME = 75, ARM_PARK = 76, ARM_POS = 77, ARM_SPEED = 78, ARM_STOP = 79, ARM_AUTOPARK = 80, ARM_GRIPPARK = 81, ROTKP = 82, ROTKV = 83, ROTKI = 84, TRANSKP = 85, TRANSKV = 86, TRANSKI = 87, SOUND = 90, PLAYLIST = 91, SOUNDTOG = 92, POWER_PC = 95, POWER_LRF = 96, POWER_5V = 97, POWER_12V = 98, POWER_24V = 98, POWER_AUX_PC = 125, POWER_TOUCHSCREEN = 126, POWER_PTZ = 127, POWER_AUDIO = 128, POWER_LRF2 = 129, LATVEL = 110, LATACCEL = 113, SETLATV = 0 }
Functions
void	initialize_robot_params (void)
Variables
RobotParams_t	PlayerRobotParams []

Define Documentation

#define ARGINT 0x3B

Definition at line 203 of file robot_params.h.

#define ARGNINT 0x1B

Definition at line 204 of file robot_params.h.

#define ARGSTR 0x2B

Definition at line 205 of file robot_params.h.

#define ARMINFOPAC 161

Definition at line 199 of file robot_params.h.

#define ARMPAC 160

Definition at line 198 of file robot_params.h.

#define CMUCAM_IMAGE_HEIGHT 143

Definition at line 222 of file robot_params.h.

#define CMUCAM_IMAGE_WIDTH 80

Definition at line 221 of file robot_params.h.

#define CMUCAM_MESSAGE_LEN 10

Definition at line 223 of file robot_params.h.

#define DEFAULT_P2OS_PORT "/dev/ttyS0"

Definition at line 226 of file robot_params.h.

#define DEFAULT_P2OS_TCP_REMOTE_HOST "localhost"

Definition at line 227 of file robot_params.h.

#define DEFAULT_P2OS_TCP_REMOTE_PORT 8101

Definition at line 228 of file robot_params.h.

#define DTOR ( a ) M_PI * a / 180.0

Definition at line 231 of file robot_params.h.

#define ENCODER 0x90

Definition at line 194 of file robot_params.h.

#define GRIPclose 2

Definition at line 209 of file robot_params.h.

#define GRIPdeploy 8

Definition at line 215 of file robot_params.h.

#define GRIPhalt 15

Definition at line 216 of file robot_params.h.

#define GRIPopen 1

Definition at line 208 of file robot_params.h.

#define GRIPpress 16

Definition at line 217 of file robot_params.h.

#define GRIPstop 3

Definition at line 210 of file robot_params.h.

#define GRIPstore 7

Definition at line 214 of file robot_params.h.

#define GYROPAC 0x98

Definition at line 197 of file robot_params.h.

#define LIFTcarry 17

Definition at line 218 of file robot_params.h.

#define LIFTdown 5

Definition at line 212 of file robot_params.h.

#define LIFTstop 6

Definition at line 213 of file robot_params.h.

#define LIFTup 4

Definition at line 211 of file robot_params.h.

#define MOTOR_DEF_MAX_SPEED 0.5

Definition at line 71 of file robot_params.h.

#define MOTOR_DEF_MAX_TURNSPEED DTOR(100)

Definition at line 72 of file robot_params.h.

#define P2OS_CYCLETIME_USEC 200000

Definition at line 79 of file robot_params.h.

#define P2OS_NOMINAL_VOLTAGE 12.0

Definition at line 83 of file robot_params.h.

#define PLAYER_NUM_ROBOT_TYPES 30

Definition at line 68 of file robot_params.h.

#define RTOD ( a ) 180.0 * a / M_PI

Definition at line 232 of file robot_params.h.

#define SERAUX 0xB0

Definition at line 195 of file robot_params.h.

#define SERAUX2 0xB8

Definition at line 196 of file robot_params.h.

#define STATUSMOVING 0x33

Definition at line 193 of file robot_params.h.

#define STATUSSTOPPED 0x32

Definition at line 192 of file robot_params.h.

#define SYNC0 0

Definition at line 86 of file robot_params.h.

#define SYNC1 1

Definition at line 87 of file robot_params.h.

#define SYNC2 2

Definition at line 88 of file robot_params.h.

Enumeration Type Documentation

enum P2OSCommand

Enumerator:

PULSE
OPEN
CLOSE
ENABLE
SETA
SETV
SETO
MOVE	int, translational move (mm)
ROTATE	int, set rotational velocity, duplicate of RVEL (deg/sec)
SETRV	int, sets the maximum rotational velocity (deg/sec)
VEL
HEAD	int, turn to absolute heading 0-359 (degrees)
DHEAD	int, turn relative to current heading (degrees)
SAY	string, makes the robot beep. up to 20 pairs of duration (20 ms incrs) and tones (halfcycle)
JOYINFO
CONFIG	int, request configuration packet
ENCODER	int, > 0 to request continous stream of packets, 0 to stop
RVEL
DCHEAD	int, colbert relative heading setpoint (degrees)
SETRA
SONAR
STOP
DIGOUT	int, sets the digout lines
VEL2
GRIPPER
ADSEL	int, select the port given as argument
GRIPPERVAL
GRIPPERPACREQUEST	p2 gripper packet request
IOREQUEST	request iopackets from p2os
PTUPOS	most-sig byte is port number, least-sig byte is pulse width
TTY2
GETAUX
BUMP_STALL
TCM2	TCM2 module commands, see tcm2 manual for details.
JOYDRIVE
MOVINGBLINK	int, 1 to blink lamp quickly before moving, 0 not to (for patrolbot)
HOSTBAUD	int, set baud rate for host port - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200
AUX1BAUD	int, set baud rate for Aux1 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200
AUX2BAUD	int, set baud rate for Aux2 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200
ESTOP	none, emergency stop, overrides decel
ESTALL
GYRO
CALCOMP	int, commands for calibrating compass, see compass manual
TTY3
GETAUX2
ARM_INFO
ARM_STATUS
ARM_INIT
ARM_CHECK
ARM_POWER
ARM_HOME
ARM_PARK
ARM_POS
ARM_SPEED
ARM_STOP
ARM_AUTOPARK
ARM_GRIPPARK
ROTKP
ROTKV
ROTKI
TRANSKP
TRANSKV
TRANSKI
SOUND
PLAYLIST
SOUNDTOG	int, AmigoBot (old H8 model) specific, enable(1) or diable(0) sound
POWER_PC
POWER_LRF
POWER_5V
POWER_12V
POWER_24V
POWER_AUX_PC
POWER_TOUCHSCREEN
POWER_PTZ
POWER_AUDIO
POWER_LRF2
LATVEL	int, sets the lateral velocity (mm)
LATACCEL	int, sets the lateral acceleration (+, mm/sec2) or lateral deceleration (-, mm/sec2)
SETLATV	int, someday will set the vel

Definition at line 90 of file robot_params.h.

Function Documentation

void initialize_robot_params ( void )

Definition at line 2122 of file robot_params.cc.

Variable Documentation

RobotParams_t PlayerRobotParams[]

Definition at line 2119 of file robot_params.cc.

Classes

Defines

Enumerations

Functions

Variables

Define Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation