definitions.h
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00001 /*
00002 * Software License Agreement (BSD License) 
00003 *
00004 * Copyright (c) 2011, Yaskawa America, Inc.
00005 * All rights reserved.
00006 *
00007 * Redistribution and use in source and binary forms, with or without
00008 * modification, are permitted provided that the following conditions are met:
00009 *
00010 *       * Redistributions of source code must retain the above copyright
00011 *       notice, this list of conditions and the following disclaimer.
00012 *       * Redistributions in binary form must reproduce the above copyright
00013 *       notice, this list of conditions and the following disclaimer in the
00014 *       documentation and/or other materials provided with the distribution.
00015 *       * Neither the name of the Yaskawa America, Inc., nor the names 
00016 *       of its contributors may be used to endorse or promote products derived
00017 *       from this software without specific prior written permission.
00018 *
00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029 * POSSIBILITY OF SUCH DAMAGE.
00030 */ 
00031 
00032 #ifndef __definitions_h
00033 #define __definitions_h
00034 
00035 // Definitions
00036 #define MOTION_PORT 11000
00037 #define SYSTEM_PORT 11001
00038 #define BUFF_MAX 1023
00039 #define QSIZE 20
00040 #define JOINTSPEED 500 // 1000 = 10% motor speed
00041 #define JOBNAME "PVARQ20"
00042 
00043 // Commands
00044 #define UNUSED 0
00045 #define CMD_INIT_PVQ 1
00046 #define CMD_ADD_POINT_PVQ 2
00047 #define CMD_END_PVQ 3
00048 #define CMD_HOLD 4
00049 #define CMD_GET_FB_PULSE 5
00050 #define CMD_GET_FB_SPEED 6
00051 #define CMD_GET_TORQUE 7
00052 
00053 // Reply Codes
00054 #define RC_SUCCESS 1
00055 #define RC_MP_ERROR 2
00056 #define RC_AE 3 // already exists
00057 #define RC_NOT_INIT 4
00058 #define RC_MOTION_INTERRUPT 5
00059 
00060 #include <vector>
00061 #include <string>
00062 
00063 namespace motoman
00064 {
00065 namespace parameters
00066 {
00067 
00068 
00075 class Parameters
00076 {
00077 
00078 public:
00079 
00085       static const int JOINT_SUFFIXES_SIZE = 12;
00086 
00093     static const std::string JOINT_SUFFIXES[JOINT_SUFFIXES_SIZE];
00094 
00095 
00096 
00097 };
00098 
00099 const std::string Parameters::JOINT_SUFFIXES[] = {"joint_s", "joint_l", "joint_e", "joint_u",
00100                                              "joint_r", "joint_b", "joint_t", "joint_8",
00101                                              "unused", "unused", "unused", "unused"};
00102 
00103 
00104 
00105 } // parameters
00106 } // motoman
00107 
00108 #endif


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36