Macros
commands.h File Reference

Definitions for qbMove or qbHand commands, parameters and packages. More...

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

Go to the source code of this file.

Macros

#define API_VERSION   "v6.2.0"
 
QB Move Information Strings
#define INFO_ALL   0
 All system information. More...
 

Enumerations

qbMove and qbHand Commands
enum  qbmove_command {
  CMD_PING = 0, CMD_SET_ZEROS = 1, CMD_STORE_PARAMS = 3, CMD_STORE_DEFAULT_PARAMS = 4,
  CMD_RESTORE_PARAMS = 5, CMD_GET_INFO = 6, CMD_SET_VALUE = 7, CMD_GET_VALUE = 8,
  CMD_BOOTLOADER = 9, CMD_INIT_MEM = 10, CMD_CALIBRATE = 11, CMD_GET_PARAM_LIST = 12,
  CMD_HAND_CALIBRATE = 13, CMD_ACTIVATE = 128, CMD_GET_ACTIVATE = 129, CMD_SET_INPUTS = 130,
  CMD_GET_INPUTS = 131, CMD_GET_MEASUREMENTS = 132, CMD_GET_CURRENTS = 133, CMD_GET_CURR_AND_MEAS = 134,
  CMD_SET_POS_STIFF = 135, CMD_GET_EMG = 136, CMD_GET_VELOCITIES = 137, CMD_GET_COUNTERS = 138,
  CMD_GET_ACCEL = 139, CMD_GET_CURR_DIFF = 140, CMD_SET_CURR_DIFF = 141, CMD_SET_CUFF_INPUTS = 142,
  CMD_SET_WATCHDOG = 143, CMD_SET_BAUDRATE = 144, CMD_EXT_DRIVE = 145, CMD_GET_JOYSTICK = 146,
  CMD_SET_INPUTS_ACK = 147
}
 

qbMove and qbHand Parameters

#define PARAM_BYTE_SLOT   50
 
#define PARAM_MENU_SLOT   150
 
enum  qbmove_parameter {
  PARAM_ID = 0, PARAM_PID_CONTROL = 1, PARAM_STARTUP_ACTIVATION = 2, PARAM_INPUT_MODE = 3,
  PARAM_CONTROL_MODE = 4, PARAM_MEASUREMENT_OFFSET = 5, PARAM_MEASUREMENT_MULTIPLIER = 6, PARAM_POS_LIMIT_FLAG = 7,
  PARAM_POS_LIMIT = 8, PARAM_MAX_STEP_POS = 9, PARAM_MAX_STEP_NEG = 10, PARAM_POS_RESOLUTION = 11,
  PARAM_CURRENT_LIMIT = 12, PARAM_EMG_CALIB_FLAG = 13, PARAM_EMG_THRESHOLD = 14, PARAM_EMG_MAX_VALUE = 15,
  PARAM_EMG_SPEED = 16, PARAM_PID_CURR_CONTROL = 18, PARAM_DOUBLE_ENC_ON_OFF = 19, PARAM_MOT_HANDLE_RATIO = 20,
  PARAM_MOTOR_SUPPLY = 21, PARAM_CURRENT_LOOKUP = 23, PARAM_DL_POS_PID = 24, PARAM_DL_CURR_PID = 25
}
 
enum  qbmove_resolution {
  RESOLUTION_360 = 0, RESOLUTION_720 = 1, RESOLUTION_1440 = 2, RESOLUTION_2880 = 3,
  RESOLUTION_5760 = 4, RESOLUTION_11520 = 5, RESOLUTION_23040 = 6, RESOLUTION_46080 = 7,
  RESOLUTION_92160 = 8
}
 
enum  qbmove_input_mode {
  INPUT_MODE_EXTERNAL = 0, INPUT_MODE_ENCODER3 = 1, INPUT_MODE_EMG_PROPORTIONAL = 2, INPUT_MODE_EMG_INTEGRAL = 3,
  INPUT_MODE_EMG_FCFS = 4, INPUT_MODE_EMG_FCFS_ADV = 5
}
 
enum  qbmove_control_mode {
  CONTROL_ANGLE = 0, CONTROL_PWM = 1, CONTROL_CURRENT = 2, CURR_AND_POS_CONTROL = 3,
  DEFLECTION_CONTROL = 4, DEFL_CURRENT_CONTROL = 5
}
 
enum  motor_supply_tipe { MAXON_24V = 0, MAXON_12V = 1 }
 
enum  acknowledgment_values { ACK_ERROR = 0, ACK_OK = 1 }
 
enum  data_types {
  TYPE_FLAG = 0, TYPE_INT8 = 1, TYPE_UINT8 = 2, TYPE_INT16 = 3,
  TYPE_UINT16 = 4, TYPE_INT32 = 5, TYPE_UINT32 = 6, TYPE_FLOAT = 7,
  TYPE_DOUBLE = 8
}
 

Detailed Description

Definitions for qbMove or qbHand commands, parameters and packages.

This file is included in the qbMove and qbHand firmware, in its libraries and applications. It contains all definitions that are necessary for the contruction of communication packages.

It includes definitions for all of the device commands, parameters and also the size of answer packages.

Definition in file commands.h.

Macro Definition Documentation

#define API_VERSION   "v6.2.0"

Definition at line 49 of file commands.h.

#define INFO_ALL   0

All system information.

Definition at line 257 of file commands.h.

#define PARAM_BYTE_SLOT   50

Definition at line 247 of file commands.h.

#define PARAM_MENU_SLOT   150

Definition at line 248 of file commands.h.

Enumeration Type Documentation

Enumerator
ACK_ERROR 
ACK_OK 

Definition at line 227 of file commands.h.

enum data_types
Enumerator
TYPE_FLAG 
TYPE_INT8 
TYPE_UINT8 
TYPE_INT16 
TYPE_UINT16 
TYPE_INT32 
TYPE_UINT32 
TYPE_FLOAT 
TYPE_DOUBLE 

Definition at line 235 of file commands.h.

Enumerator
MAXON_24V 
MAXON_12V 

Definition at line 222 of file commands.h.

Enumerator
CMD_PING 

Asks for a ping message.

CMD_SET_ZEROS 

Command for setting the encoders zero position.

CMD_STORE_PARAMS 

Stores all parameters in memory and loads them.

CMD_STORE_DEFAULT_PARAMS 

Store current parameters as factory parameters.

CMD_RESTORE_PARAMS 

Restore default factory parameters.

CMD_GET_INFO 

Asks for a string of information about.

CMD_SET_VALUE 

Not Used.

CMD_GET_VALUE 

Not Used.

CMD_BOOTLOADER 

Sets the bootloader modality to update the firmware.

CMD_INIT_MEM 

Initialize the memory with the defalut values.

CMD_CALIBRATE 

Starts the stiffness calibration of the qbMove.

CMD_GET_PARAM_LIST 

Command to get the parameters list or to set a defined value chosen by the use.

CMD_HAND_CALIBRATE 

Starts a series of opening and closures of the hand.

CMD_ACTIVATE 

Command for activating/deactivating the device.

CMD_GET_ACTIVATE 

Command for getting device activation state.

CMD_SET_INPUTS 

Command for setting reference inputs.

CMD_GET_INPUTS 

Command for getting reference inputs.

CMD_GET_MEASUREMENTS 

Command for asking device's position measurements.

CMD_GET_CURRENTS 

Command for asking device's current measurements.

CMD_GET_CURR_AND_MEAS 

Command for asking device's measurements and currents.

CMD_SET_POS_STIFF 

Not used in the softhand firmware.

CMD_GET_EMG 

Command for asking device's emg sensors measurements.

CMD_GET_VELOCITIES 

Command for asking device's velocity measurements.

CMD_GET_COUNTERS 

Command for asking device's counters (mostly used for debugging sent commands)

CMD_GET_ACCEL 

Command for asking device's acceleration measurements.

CMD_GET_CURR_DIFF 

Command for asking device's current difference between a measured one and an estimated one (Only for SoftHand)

CMD_SET_CURR_DIFF 

Command used to set current difference modality (Only for Cuff device)

CMD_SET_CUFF_INPUTS 

Command used to set Cuff device inputs (Only for Cuff device)

CMD_SET_WATCHDOG 

Command for setting watchdog timer or disable it.

CMD_SET_BAUDRATE 

Command for setting baudrate of communication.

CMD_EXT_DRIVE 

Command to set the actual measurements as inputs to another device (Only for Armslider device)

CMD_GET_JOYSTICK 

Command to get the joystick measurements (Only for devices driven by a joystick)

CMD_SET_INPUTS_ACK 

Command to set the device inputs and return an acknowledgment signal (needed for less comm.

errors)

Definition at line 60 of file commands.h.

Enumerator
CONTROL_ANGLE 

Classic position control.

CONTROL_PWM 

Direct PWM value.

CONTROL_CURRENT 

Current control.

CURR_AND_POS_CONTROL 

Position and current control.

DEFLECTION_CONTROL 

Deflection control.

DEFL_CURRENT_CONTROL 

Deflection and current control.

Definition at line 209 of file commands.h.

Enumerator
INPUT_MODE_EXTERNAL 

References through external commands (default)

INPUT_MODE_ENCODER3 

Encoder 3 drives all inputs.

INPUT_MODE_EMG_PROPORTIONAL 

Use EMG measure to proportionally drive the position of the motor 1.

INPUT_MODE_EMG_INTEGRAL 

Use 2 EMG signals to drive motor position.

INPUT_MODE_EMG_FCFS 

Use 2 EMG.

First reaching threshold wins and its value defines hand closure

INPUT_MODE_EMG_FCFS_ADV 

Use 2 EMG.

First reaching threshold wins and its value defines hand closure Wait for both EMG to lower under threshold

Definition at line 191 of file commands.h.

Enumerator
PARAM_ID 

Device's ID number.

PARAM_PID_CONTROL 

PID parameters.

PARAM_STARTUP_ACTIVATION 

Start up activation byte.

PARAM_INPUT_MODE 

Input mode.

PARAM_CONTROL_MODE 

Choose the kind of control between position control, current control, direct PWM value or current+position control.

PARAM_MEASUREMENT_OFFSET 

Adds a constant offset to the measurements.

PARAM_MEASUREMENT_MULTIPLIER 

Adds a multiplier to the measurements.

PARAM_POS_LIMIT_FLAG 

Enable/disable position limiting.

PARAM_POS_LIMIT 

Position limit values | int32 | int32 | int32 | int32 | | INF_LIM_1 | SUP_LIM_1 | INF_LIM_2 | SUP_LIM_2 |.

PARAM_MAX_STEP_POS 

Used to slow down movements for positive values.

PARAM_MAX_STEP_NEG 

Used to slow down movements for negative values.

PARAM_POS_RESOLUTION 

Angle resolution for inputs and measurements.

Used during communication.

PARAM_CURRENT_LIMIT 

Limit for absorbed current.

PARAM_EMG_CALIB_FLAG 

Enable calibration on startup.

PARAM_EMG_THRESHOLD 

Minimum value to have effect.

PARAM_EMG_MAX_VALUE 

Maximum value of EMG.

PARAM_EMG_SPEED 

Closure speed when using EMG.

PARAM_PID_CURR_CONTROL 

PID current control.

PARAM_DOUBLE_ENC_ON_OFF 

Double Encoder Y/N.

PARAM_MOT_HANDLE_RATIO 

Multiplier between handle and motor.

PARAM_MOTOR_SUPPLY 

Motor supply voltage of the hand.

PARAM_CURRENT_LOOKUP 

Table of values used to calculate an estimated current of the SoftHand.

PARAM_DL_POS_PID 

Double loop position PID.

PARAM_DL_CURR_PID 

Double loop current PID.

Definition at line 133 of file commands.h.

Enumerator
RESOLUTION_360 
RESOLUTION_720 
RESOLUTION_1440 
RESOLUTION_2880 
RESOLUTION_5760 
RESOLUTION_11520 
RESOLUTION_23040 
RESOLUTION_46080 
RESOLUTION_92160 

Definition at line 176 of file commands.h.



qb_device_driver
Author(s): qbroboticsĀ®
autogenerated on Wed Oct 9 2019 03:45:42