tactile_edc_ethercat_protocol.h File Reference

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Classes
struct	AUX_SPI_SENSOR
struct	TACTILE_SENSOR_BIOTAC_DATA_CONTENTS
union	TACTILE_SENSOR_MID_PROX
struct	TACTILE_SENSOR_PALM
union	TACTILE_SENSOR_STATUS_v1
union	TACTILE_SENSOR_STATUS_v2
struct	TACTILE_SENSOR_UNIBI_DATA_CONTENTS

Macros
#define	TACTILE_DATA_LENGTH_BYTES_v1   16
#define	TACTILE_DATA_LENGTH_BYTES_v2   32
#define	TACTILE_DATA_LENGTH_WORDS_v1   (TACTILE_DATA_LENGTH_BYTES_v1/2)
#define	TACTILE_DATA_LENGTH_WORDS_v2   (TACTILE_DATA_LENGTH_BYTES_v2/2)

Enumerations
enum	AUX_SENSOR_PROTOCOL_TYPE { AUX_SENSOR_PROTOCOL_TYPE_INVALID = 0x0000, AUX_SENSOR_PROTOCOL_TYPE_MCP3202 = 0x0001, AUX_SENSOR_PROTOCOL_TYPE_MCP3204 = 0x0002, AUX_SENSOR_PROTOCOL_TYPE_MCP3208 = 0x0003 }
enum	FROM_TACTILE_SENSOR_TYPE {   TACTILE_SENSOR_TYPE_WHICH_SENSORS = 0xFFF9, TACTILE_SENSOR_TYPE_SAMPLE_FREQUENCY_HZ = 0xFFFA, TACTILE_SENSOR_TYPE_MANUFACTURER = 0xFFFB, TACTILE_SENSOR_TYPE_SERIAL_NUMBER = 0xFFFC,   TACTILE_SENSOR_TYPE_SOFTWARE_VERSION = 0xFFFD, TACTILE_SENSOR_TYPE_PCB_VERSION = 0xFFFE, TACTILE_SENSOR_TYPE_RESET_COMMAND = 0xFFFF }
enum	FROM_TACTILE_SENSOR_TYPE_BIOTAC {   TACTILE_SENSOR_TYPE_BIOTAC_INVALID = 0x0000, TACTILE_SENSOR_TYPE_BIOTAC_PDC = 0x0001, TACTILE_SENSOR_TYPE_BIOTAC_TAC = 0x0002, TACTILE_SENSOR_TYPE_BIOTAC_TDC = 0x0003,   TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_1 = 0x0004, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_2 = 0x0005, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_3 = 0x0006, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_4 = 0x0007,   TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_5 = 0x0008, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_6 = 0x0009, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_7 = 0x000A, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_8 = 0x000B,   TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_9 = 0x000C, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_10 = 0x000D, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_11 = 0x000E, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_12 = 0x000F,   TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_13 = 0x0010, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_14 = 0x0011, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_15 = 0x0012, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_16 = 0x0013,   TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_17 = 0x0014, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_18 = 0x0015, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_19 = 0x0016, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_20 = 0x0017,   TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_21 = 0x0018, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_22 = 0x0019, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_23 = 0x001A, TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_24 = 0x001B,   FROM_TACTILE_SENSOR_TYPE_BIOTAC_NUM_VALUES = 0x001C }
enum	FROM_TACTILE_SENSOR_TYPE_MCP320x { TACTILE_SENSOR_TYPE_MCP320x_INVALID = 0x0000, TACTILE_SENSOR_TYPE_MCP320x_TACTILE = 0x0001 }
enum	FROM_TACTILE_SENSOR_TYPE_PST3 { TACTILE_SENSOR_TYPE_PST3_PRESSURE_TEMPERATURE = 0x0000, TACTILE_SENSOR_TYPE_PST3_PRESSURE_RAW_ZERO_TRACKING = 0x0002, TACTILE_SENSOR_TYPE_PST3_DAC_VALUE = 0x0004 }
enum	FROM_TACTILE_SENSOR_TYPE_UBI0 { TACTILE_SENSOR_TYPE_UBI0_INVALID = 0x0000, TACTILE_SENSOR_TYPE_UBI0_TACTILE = 0x0001 }
enum	TACTILE_MID_PROX_SENSOR_NUMBERS {   MID_0 = 0, MID_1 = 1, MID_2 = 2, MID_3 = 3,   PROX_0 = 4, PROX_1 = 5, PROX_2 = 6, PROX_3 = 7 }
enum	TACTILE_SENSOR_PROTOCOL_TYPE {   TACTILE_SENSOR_PROTOCOL_TYPE_INVALID = 0x0000, TACTILE_SENSOR_PROTOCOL_TYPE_PST3 = 0x0001, TACTILE_SENSOR_PROTOCOL_TYPE_BIOTAC_2_3 = 0x0002, TACTILE_SENSOR_PROTOCOL_TYPE_UBI0 = 0x0003,   TACTILE_SENSOR_PROTOCOL_TYPE_CONFLICTING = 0xFFFF }

Detailed Description

The term "Command" means data going from the ROS PC to the Node on the robot Previously known as "Incoming"

The term "Status" means data going from Node on the robot the to the ROS PC Previously known as "Outgoing"

Definition in file tactile_edc_ethercat_protocol.h.

Macro Definition Documentation

#define TACTILE_DATA_LENGTH_BYTES_v1   16

Definition at line 53 of file tactile_edc_ethercat_protocol.h.

#define TACTILE_DATA_LENGTH_BYTES_v2   32

Definition at line 171 of file tactile_edc_ethercat_protocol.h.

#define TACTILE_DATA_LENGTH_WORDS_v1   (TACTILE_DATA_LENGTH_BYTES_v1/2)

Definition at line 54 of file tactile_edc_ethercat_protocol.h.

#define TACTILE_DATA_LENGTH_WORDS_v2   (TACTILE_DATA_LENGTH_BYTES_v2/2)

Definition at line 172 of file tactile_edc_ethercat_protocol.h.

Enumeration Type Documentation

enum AUX_SENSOR_PROTOCOL_TYPE

Enumerator
AUX_SENSOR_PROTOCOL_TYPE_INVALID	No supported sensors were found.
AUX_SENSOR_PROTOCOL_TYPE_MCP3202	A basic MCP3202 ADC was found.
AUX_SENSOR_PROTOCOL_TYPE_MCP3204	A basic MCP3204 ADC was found.
AUX_SENSOR_PROTOCOL_TYPE_MCP3208	A basic MCP3208 ADC was found.

Definition at line 84 of file tactile_edc_ethercat_protocol.h.

enum FROM_TACTILE_SENSOR_TYPE

Enumerator
TACTILE_SENSOR_TYPE_WHICH_SENSORS	Is this a PST, a BioTac, or what? Returns a TACTILE_SENSOR_PROTOCOL_TYPE.
TACTILE_SENSOR_TYPE_SAMPLE_FREQUENCY_HZ	word[0] = frequency in Hz. currently only used by BioTacs
TACTILE_SENSOR_TYPE_MANUFACTURER	e.g. "Shadow" or "Syntouch"
TACTILE_SENSOR_TYPE_SERIAL_NUMBER	e.g. "PST3200110190001"
TACTILE_SENSOR_TYPE_SOFTWARE_VERSION	e.g. "1825"
TACTILE_SENSOR_TYPE_PCB_VERSION	e.g. "FB". Currently only used by BioTacs
TACTILE_SENSOR_TYPE_RESET_COMMAND	Requesting this causes the tactile sensors to reset if they support it.

Definition at line 62 of file tactile_edc_ethercat_protocol.h.

enum FROM_TACTILE_SENSOR_TYPE_BIOTAC

Enumerator
TACTILE_SENSOR_TYPE_BIOTAC_INVALID
TACTILE_SENSOR_TYPE_BIOTAC_PDC
TACTILE_SENSOR_TYPE_BIOTAC_TAC
TACTILE_SENSOR_TYPE_BIOTAC_TDC
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_1
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_2
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_3
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_4
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_5
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_6
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_7
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_8
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_9
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_10
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_11
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_12
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_13
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_14
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_15
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_16
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_17
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_18
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_19
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_20
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_21
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_22
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_23
TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_24
FROM_TACTILE_SENSOR_TYPE_BIOTAC_NUM_VALUES

Definition at line 106 of file tactile_edc_ethercat_protocol.h.

enum FROM_TACTILE_SENSOR_TYPE_MCP320x

Enumerator
TACTILE_SENSOR_TYPE_MCP320x_INVALID
TACTILE_SENSOR_TYPE_MCP320x_TACTILE	Only one type of sensor.

Definition at line 141 of file tactile_edc_ethercat_protocol.h.

enum FROM_TACTILE_SENSOR_TYPE_PST3

Enumerator
TACTILE_SENSOR_TYPE_PST3_PRESSURE_TEMPERATURE	0: Pressure. 1: Temperature
TACTILE_SENSOR_TYPE_PST3_PRESSURE_RAW_ZERO_TRACKING	0: Raw pressure 1: Zero tracking
TACTILE_SENSOR_TYPE_PST3_DAC_VALUE	0: DAC value 1: -—

Definition at line 93 of file tactile_edc_ethercat_protocol.h.

enum FROM_TACTILE_SENSOR_TYPE_UBI0

Enumerator
TACTILE_SENSOR_TYPE_UBI0_INVALID
TACTILE_SENSOR_TYPE_UBI0_TACTILE	Only one type of sensor.

Definition at line 100 of file tactile_edc_ethercat_protocol.h.

enum TACTILE_MID_PROX_SENSOR_NUMBERS

Enumerator
MID_0
MID_1
MID_2
MID_3
PROX_0
PROX_1
PROX_2
PROX_3

Definition at line 198 of file tactile_edc_ethercat_protocol.h.

enum TACTILE_SENSOR_PROTOCOL_TYPE

Enumerator
TACTILE_SENSOR_PROTOCOL_TYPE_INVALID	No supported sensors were found.
TACTILE_SENSOR_PROTOCOL_TYPE_PST3	Shadow's Pressure Tactile sensor, Hugo's firmware.
TACTILE_SENSOR_PROTOCOL_TYPE_BIOTAC_2_3	Syntouch's BioTac sensor, version 2.3.
TACTILE_SENSOR_PROTOCOL_TYPE_UBI0	Bielefeld's tactile sensor.
TACTILE_SENSOR_PROTOCOL_TYPE_CONFLICTING	More than 1 type of sensor is connected to the hand! (Very unlikely to happen)

Definition at line 74 of file tactile_edc_ethercat_protocol.h.