Classes | Macros | Enumerations | Variables
ypparam.h File Reference
#include <unistd.h>
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Classes

struct  ipcmd_t
 
struct  YPSpur_msg
 

Macros

#define DISABLE   0
 
#define ENABLE   1
 
#define YP_PARAM_ALIAS
 
#define YP_PARAM_ALIAS_NUM   2
 
#define YP_PARAM_COMMENT
 
#define YP_PARAM_MAX_MOTOR_NUM   16
 
#define YP_PARAM_NAME
 
#define YP_PARAM_NECESSARY
 
#define YP_PARAM_REQUIRED_VERSION   4.0
 
#define YP_PARAM_SUPPORTED_VERSION   5.0
 
#define YPSPUR_MAX_SOCKET   64
 
#define YPSPUR_MSG_CMD   1
 
#define YPSPUR_MSG_SIZE   (sizeof(YPSpur_msg) - sizeof(long))
 
#define YPSPUR_MSQ_KEY   0x7045
 

Enumerations

enum  {
  YPSPUR_FREE = 0x10, YPSPUR_SERVO, YPSPUR_OPENFREE, YPSPUR_VEL = 0x20,
  YPSPUR_LINE, YPSPUR_CIRCLE, YPSPUR_WHEEL_VEL, YPSPUR_WHEEL_TORQUE,
  YPSPUR_ORIENT = 0x30, YPSPUR_SPIN = 0x40, YPSPUR_STOP_LINE, YPSPUR_STOP,
  YPSPUR_WHEEL_ANGLE, YPSPUR_SET_VEL = 0x50, YPSPUR_SET_ANGVEL, YPSPUR_SET_ACCEL,
  YPSPUR_SET_ANGACCEL, YPSPUR_SET_POS, YPSPUR_SET_GL_GL, YPSPUR_SET_TILT,
  YPSPUR_ADJUST, YPSPUR_SET_WHEEL_VEL, YPSPUR_SET_WHEEL_ACCEL, YPSPUR_GET_POS = 0x70,
  YPSPUR_GET_VEL, YPSPUR_NEAR_POS, YPSPUR_NEAR_ANG, YPSPUR_OVER_LINE,
  YPSPUR_GET_WHEEL_VEL, YPSPUR_GET_WHEEL_ANG, YPSPUR_GET_FORCE, YPSPUR_GET_VREF,
  YPSPUR_GET_WHEEL_VREF, YPSPUR_PARAM_SET = 0x100, YPSPUR_PARAM_GET, YPSPUR_PARAM_STATE,
  YPSPUR_GET_WHEEL_TORQUE, YPSPUR_FREEZE = 0x200, YPSPUR_UNFREEZE, YPSPUR_ISFREEZE,
  YPSPUR_GETAD = 0x500, YPSPUR_SETIODIR, YPSPUR_SETIODATA, YPSPUR_GET_ERROR_STATE,
  YPSPUR_REQUEST_DEVICE_DUMP, YPSPUR_JOINT_TORQUE = 0x800, YPSPUR_JOINT_VEL, YPSPUR_JOINT_ANG,
  YPSPUR_JOINT_ANG_VEL, YPSPUR_SET_JOINT_ACCEL = 0x810, YPSPUR_SET_JOINT_VEL, YPSPUR_GET_JOINT_VEL = 0x820,
  YPSPUR_GET_JOINT_VREF, YPSPUR_GET_JOINT_ANG, YPSPUR_GET_JOINT_TORQUE
}
 
enum  motor_id { MOTOR_RIGHT = 0, MOTOR_LEFT }
 
enum  YPSpur_cs {
  CS_BS = 0, CS_SP, CS_GL, CS_LC,
  CS_FS, CS_BL, CS_MAX
}
 
enum  YPSpur_param {
  YP_PARAM_VERSION = 0, YP_PARAM_TORQUE_UNIT, YP_PARAM_TORQUE_FINENESS, YP_PARAM_PWM_MAX,
  YP_PARAM_COUNT_REV, YP_PARAM_ENCODER_TYPE, YP_PARAM_VOLT, YP_PARAM_VOLT_MIN,
  YP_PARAM_CYCLE, YP_PARAM_GEAR, YP_PARAM_MOTOR_R, YP_PARAM_MOTOR_TC,
  YP_PARAM_MOTOR_VC, YP_PARAM_MOTOR_PHASE, YP_PARAM_PHASE_OFFSET, YP_PARAM_RADIUS,
  YP_PARAM_RADIUS_R, YP_PARAM_RADIUS_L, YP_PARAM_TREAD, YP_PARAM_CONTROL_CYCLE,
  YP_PARAM_MAX_VEL, YP_PARAM_MAX_W, YP_PARAM_MAX_ACC_V, YP_PARAM_MAX_ACC_W,
  YP_PARAM_MAX_CENTRIFUGAL_ACC, YP_PARAM_L_C1, YP_PARAM_L_K1, YP_PARAM_L_K2,
  YP_PARAM_L_K3, YP_PARAM_L_DIST, YP_PARAM_GAIN_KP, YP_PARAM_GAIN_KI,
  YP_PARAM_TORQUE_MAX, YP_PARAM_TORQUE_NEWTON, YP_PARAM_TORQUE_VISCOS, YP_PARAM_TORQUE_NEWTON_NEG,
  YP_PARAM_TORQUE_VISCOS_NEG, YP_PARAM_INTEGRAL_MAX, YP_PARAM_TORQUE_OFFSET, YP_PARAM_TORQUE_LIMIT,
  YP_PARAM_MASS, YP_PARAM_MOMENT_INERTIA, YP_PARAM_MOTOR_M_INERTIA, YP_PARAM_TIRE_M_INERTIA,
  YP_PARAM_SIZE_FRONT, YP_PARAM_SIZE_REAR, YP_PARAM_SIZE_LEFT, YP_PARAM_SIZE_RIGHT,
  YP_PARAM_GAIN_A, YP_PARAM_GAIN_B, YP_PARAM_GAIN_C, YP_PARAM_GAIN_D,
  YP_PARAM_GAIN_E, YP_PARAM_GAIN_F, YP_PARAM_STOP_LINEAR, YP_PARAM_SPIN_LINEAR,
  YP_PARAM_WHEEL_ANG_LINEAR, YP_PARAM_MIN_WHEEL_ANGLE, YP_PARAM_MAX_WHEEL_ANGLE, YP_PARAM_VEHICLE_CONTROL,
  YP_PARAM_CONTROL_MODE_RESEND, YP_PARAM_INERTIA_SELF, YP_PARAM_INERTIA_CROSS, YP_PARAM_ENCODER_DIV,
  YP_PARAM_ENCODER_DENOMINATOR, YP_PARAM_HALL_DELAY, YP_PARAM_LR_CUTOFF_FREQ, YP_PARAM_INDEX_RISE_ANGLE,
  YP_PARAM_INDEX_FALL_ANGLE, YP_PARAM_INDEX_GEAR, YP_PARAM_DEVICE_TIMEOUT, YP_PARAM_NUM
}
 
enum  YPSpur_state {
  YP_STATE_MOTOR = 0, YP_STATE_VELOCITY, YP_STATE_BODY, YP_STATE_TRACKING,
  YP_STATE_GRAVITY, YP_STATE_NUM
}
 

Variables

static const char YPSpur_CSName [CS_MAX][16]
 

Macro Definition Documentation

◆ DISABLE

#define DISABLE   0

Definition at line 546 of file ypparam.h.

◆ ENABLE

#define ENABLE   1

Definition at line 545 of file ypparam.h.

◆ YP_PARAM_ALIAS

#define YP_PARAM_ALIAS
Value:
{ \
{ \
YP_PARAM_RADIUS_L, YP_PARAM_RADIUS, MOTOR_LEFT \
}, \
{ \
YP_PARAM_RADIUS_R, YP_PARAM_RADIUS, MOTOR_RIGHT \
} \
}

Definition at line 460 of file ypparam.h.

◆ YP_PARAM_ALIAS_NUM

#define YP_PARAM_ALIAS_NUM   2

Definition at line 458 of file ypparam.h.

◆ YP_PARAM_COMMENT

#define YP_PARAM_COMMENT

Definition at line 375 of file ypparam.h.

◆ YP_PARAM_MAX_MOTOR_NUM

#define YP_PARAM_MAX_MOTOR_NUM   16

Definition at line 456 of file ypparam.h.

◆ YP_PARAM_NAME

#define YP_PARAM_NAME

Definition at line 225 of file ypparam.h.

◆ YP_PARAM_NECESSARY

#define YP_PARAM_NECESSARY

Definition at line 300 of file ypparam.h.

◆ YP_PARAM_REQUIRED_VERSION

#define YP_PARAM_REQUIRED_VERSION   4.0

Definition at line 471 of file ypparam.h.

◆ YP_PARAM_SUPPORTED_VERSION

#define YP_PARAM_SUPPORTED_VERSION   5.0

Definition at line 472 of file ypparam.h.

◆ YPSPUR_MAX_SOCKET

#define YPSPUR_MAX_SOCKET   64

Definition at line 517 of file ypparam.h.

◆ YPSPUR_MSG_CMD

#define YPSPUR_MSG_CMD   1

Definition at line 542 of file ypparam.h.

◆ YPSPUR_MSG_SIZE

#define YPSPUR_MSG_SIZE   (sizeof(YPSpur_msg) - sizeof(long))

Definition at line 543 of file ypparam.h.

◆ YPSPUR_MSQ_KEY

#define YPSPUR_MSQ_KEY   0x7045

Definition at line 541 of file ypparam.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum
Enumerator
YPSPUR_FREE 
YPSPUR_SERVO 
YPSPUR_OPENFREE 
YPSPUR_VEL 
YPSPUR_LINE 
YPSPUR_CIRCLE 
YPSPUR_WHEEL_VEL 
YPSPUR_WHEEL_TORQUE 
YPSPUR_ORIENT 
YPSPUR_SPIN 
YPSPUR_STOP_LINE 
YPSPUR_STOP 
YPSPUR_WHEEL_ANGLE 
YPSPUR_SET_VEL 
YPSPUR_SET_ANGVEL 
YPSPUR_SET_ACCEL 
YPSPUR_SET_ANGACCEL 
YPSPUR_SET_POS 
YPSPUR_SET_GL_GL 
YPSPUR_SET_TILT 
YPSPUR_ADJUST 
YPSPUR_SET_WHEEL_VEL 
YPSPUR_SET_WHEEL_ACCEL 
YPSPUR_GET_POS 
YPSPUR_GET_VEL 
YPSPUR_NEAR_POS 
YPSPUR_NEAR_ANG 
YPSPUR_OVER_LINE 
YPSPUR_GET_WHEEL_VEL 
YPSPUR_GET_WHEEL_ANG 
YPSPUR_GET_FORCE 
YPSPUR_GET_VREF 
YPSPUR_GET_WHEEL_VREF 
YPSPUR_PARAM_SET 
YPSPUR_PARAM_GET 
YPSPUR_PARAM_STATE 
YPSPUR_GET_WHEEL_TORQUE 
YPSPUR_FREEZE 
YPSPUR_UNFREEZE 
YPSPUR_ISFREEZE 
YPSPUR_GETAD 
YPSPUR_SETIODIR 
YPSPUR_SETIODATA 
YPSPUR_GET_ERROR_STATE 
YPSPUR_REQUEST_DEVICE_DUMP 
YPSPUR_JOINT_TORQUE 
YPSPUR_JOINT_VEL 
YPSPUR_JOINT_ANG 
YPSPUR_JOINT_ANG_VEL 
YPSPUR_SET_JOINT_ACCEL 
YPSPUR_SET_JOINT_VEL 
YPSPUR_GET_JOINT_VEL 
YPSPUR_GET_JOINT_VREF 
YPSPUR_GET_JOINT_ANG 
YPSPUR_GET_JOINT_TORQUE 

Definition at line 45 of file ypparam.h.

◆ motor_id

enum motor_id
Enumerator
MOTOR_RIGHT 
MOTOR_LEFT 

Definition at line 451 of file ypparam.h.

◆ YPSpur_cs

enum YPSpur_cs

メッセージ関連

Enumerator
CS_BS 
CS_SP 
CS_GL 
CS_LC 
CS_FS 
CS_BL 
CS_MAX 

Definition at line 488 of file ypparam.h.

◆ YPSpur_param

enum YPSpur_param
Enumerator
YP_PARAM_VERSION 
YP_PARAM_TORQUE_UNIT 
YP_PARAM_TORQUE_FINENESS 
YP_PARAM_PWM_MAX 
YP_PARAM_COUNT_REV 
YP_PARAM_ENCODER_TYPE 
YP_PARAM_VOLT 
YP_PARAM_VOLT_MIN 
YP_PARAM_CYCLE 
YP_PARAM_GEAR 
YP_PARAM_MOTOR_R 
YP_PARAM_MOTOR_TC 
YP_PARAM_MOTOR_VC 
YP_PARAM_MOTOR_PHASE 
YP_PARAM_PHASE_OFFSET 
YP_PARAM_RADIUS 
YP_PARAM_RADIUS_R 
YP_PARAM_RADIUS_L 
YP_PARAM_TREAD 
YP_PARAM_CONTROL_CYCLE 
YP_PARAM_MAX_VEL 
YP_PARAM_MAX_W 
YP_PARAM_MAX_ACC_V 
YP_PARAM_MAX_ACC_W 
YP_PARAM_MAX_CENTRIFUGAL_ACC 
YP_PARAM_L_C1 
YP_PARAM_L_K1 
YP_PARAM_L_K2 
YP_PARAM_L_K3 
YP_PARAM_L_DIST 
YP_PARAM_GAIN_KP 
YP_PARAM_GAIN_KI 
YP_PARAM_TORQUE_MAX 
YP_PARAM_TORQUE_NEWTON 
YP_PARAM_TORQUE_VISCOS 
YP_PARAM_TORQUE_NEWTON_NEG 
YP_PARAM_TORQUE_VISCOS_NEG 
YP_PARAM_INTEGRAL_MAX 
YP_PARAM_TORQUE_OFFSET 
YP_PARAM_TORQUE_LIMIT 
YP_PARAM_MASS 
YP_PARAM_MOMENT_INERTIA 
YP_PARAM_MOTOR_M_INERTIA 
YP_PARAM_TIRE_M_INERTIA 
YP_PARAM_SIZE_FRONT 
YP_PARAM_SIZE_REAR 
YP_PARAM_SIZE_LEFT 
YP_PARAM_SIZE_RIGHT 
YP_PARAM_GAIN_A 
YP_PARAM_GAIN_B 
YP_PARAM_GAIN_C 
YP_PARAM_GAIN_D 
YP_PARAM_GAIN_E 
YP_PARAM_GAIN_F 
YP_PARAM_STOP_LINEAR 
YP_PARAM_SPIN_LINEAR 
YP_PARAM_WHEEL_ANG_LINEAR 
YP_PARAM_MIN_WHEEL_ANGLE 
YP_PARAM_MAX_WHEEL_ANGLE 
YP_PARAM_VEHICLE_CONTROL 
YP_PARAM_CONTROL_MODE_RESEND 
YP_PARAM_INERTIA_SELF 
YP_PARAM_INERTIA_CROSS 
YP_PARAM_ENCODER_DIV 
YP_PARAM_ENCODER_DENOMINATOR 
YP_PARAM_HALL_DELAY 
YP_PARAM_LR_CUTOFF_FREQ 
YP_PARAM_INDEX_RISE_ANGLE 
YP_PARAM_INDEX_FALL_ANGLE 
YP_PARAM_INDEX_GEAR 
YP_PARAM_DEVICE_TIMEOUT 
YP_PARAM_NUM 

パラメータの最大値

Definition at line 118 of file ypparam.h.

◆ YPSpur_state

enum YPSpur_state
Enumerator
YP_STATE_MOTOR 
YP_STATE_VELOCITY 
YP_STATE_BODY 
YP_STATE_TRACKING 
YP_STATE_GRAVITY 
YP_STATE_NUM 

Definition at line 476 of file ypparam.h.

Variable Documentation

◆ YPSpur_CSName

const char YPSpur_CSName[CS_MAX][16]
static
Initial value:
= {
{ "BS" },
{ "SP" },
{ "GL" },
{ "LC" },
{ "FS" },
{ "BL" },
}

Definition at line 499 of file ypparam.h.

MOTOR_RIGHT
@ MOTOR_RIGHT
Definition: ypparam.h:453
YP_PARAM_RADIUS
@ YP_PARAM_RADIUS
Definition: ypparam.h:141
MOTOR_LEFT
@ MOTOR_LEFT
Definition: ypparam.h:454

yp-spur
Author(s):
autogenerated on Fri Oct 20 2023 03:02:42