qbrobotics_research_commands.h

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/***
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#ifndef QBROBOTICS_DRIVER_QBROBOTICS_RESEARCH_COMMANDS_H
#define QBROBOTICS_DRIVER_QBROBOTICS_RESEARCH_COMMANDS_H
 
#define API_VERSION "7.1.0"
 
#define PARAM_BYTE_SLOT         50    // Number of bytes reserved to param's information
#define PARAM_MENU_SLOT         150   // Number of bytes reserved to a param menu
 
#define INFO_ALL                0     
#define INFO_READING            1     
#define GET_SD_PARAM            2     
#define GET_SD_DATA             3     
 
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,  
  CMD_SET_SYNERGIES           = 148,  
  CMD_GET_SYNERGIES           = 149,  
  CMD_GET_CYCLE_TIME          = 150   
};
 
enum additional_command
{
  CMD_GET_IMU_READINGS        = 161,  
  CMD_GET_IMU_PARAM           = 162,  
  CMD_GET_ENCODER_CONF        = 163,  
  CMD_GET_ENCODER_RAW         = 164,  
  CMD_GET_ADC_CONF            = 165,  
  CMD_GET_ADC_RAW             = 166   
};
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,
  TYPE_STRING                 = 9     // Custom data type
};
 
#endif  // QBROBOTICS_DRIVER_QBROBOTICS_RESEARCH_COMMANDS_H