ros.h
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00001 /* 
00002   Common Definitions for ROS driver ArbotiX Firmware
00003   Copyright (c) 2008-2012 Vanadium Labs LLC.  All right reserved.
00004  
00005   Redistribution and use in source and binary forms, with or without
00006   modification, are permitted provided that the following conditions are met:
00007 
00008       * Redistributions of source code must retain the above copyright
00009         notice, this list of conditions and the following disclaimer.
00010       * Redistributions in binary form must reproduce the above copyright
00011         notice, this list of conditions and the following disclaimer in the
00012         documentation and/or other materials provided with the distribution.
00013       * Neither the name of Vanadium Labs LLC nor the names of its 
00014         contributors may be used to endorse or promote products derived 
00015         from this software without specific prior written permission.
00016   
00017   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020   DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
00021   INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
00022   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
00023   OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00024   LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
00025   OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00026   ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 */ 
00028 
00029 /* ArbotiX (id:253) Instruction Definitions */
00030 #define ARB_SIZE_POSE       7    // pose size: a single param for size of pose
00031 #define ARB_LOAD_POSE       8    // load pose: index, then pose positions (# of params = 2*pose_size)
00032 #define ARB_LOAD_SEQ        9    // seq size: a single param for the size of the seq
00033 #define ARB_PLAY_SEQ        10   // load seq: index/times (# of params = 3*seq_size)
00034 #define ARB_LOOP_SEQ        11   // play seq: no params
00035 //#define ARB_TEST          25   // hardware test: no params
00036 #define ARB_CONTROL_SETUP   26   // write ids: id of controller, params (usually ids of servos, # of params = pose_size + 1)
00037 #define ARB_CONTROL_WRITE   27   // write positions: positions in order of servos (# of params = 2*pose_size)
00038 #define ARB_CONTROL_STAT    28   // retrieve status: id of controller
00039 #define ARB_SYNC_READ       0x84
00040 
00041 /* ArbotiX (id:253) Register Table Definitions */
00042 #define REG_MODEL_NUMBER_L  0
00043 #define REG_MODEL_NUMBER_H  1
00044 #define REG_VERSION         2
00045 #define REG_ID              3
00046 #define REG_BAUD_RATE       4
00047 
00048 #define REG_DIGITAL_IN0     5  // First block of digital pins to read
00049 #define REG_DIGITAL_IN1     6
00050 #define REG_DIGITAL_IN2     7
00051 #define REG_DIGITAL_IN3     8
00052 
00053 #define REG_RESCAN          15
00054 #define REG_RETURN_LEVEL    16
00055 #define REG_ALARM_LED       17
00056 #define REG_ANA_BASE        18  // First Analog Port
00057 #define REG_SERVO_BASE      26  // Up to 10 servos, each uses 2 bytes (L, then H), pulse width (0, 1000-2000ms)
00058 #define REG_MOVING          46
00059 
00060 #define REG_DIGITAL_OUT0    47  // First digital pin to write
00061                                 // base + index, bit 1 = value (0,1), bit 0 = direction (0,1)
00062 
00063 #define REG_RESERVED        79  // 79 -- 99 are reserved for future use
00064 #define REG_USER            100 // 
00065 
00066 /* Packet Decoding */
00067 int mode = 0;                   // where we are in the frame
00068 
00069 unsigned char id = 0;           // id of this frame
00070 unsigned char length = 0;       // length of this frame
00071 unsigned char ins = 0;          // instruction of this frame
00072 
00073 unsigned char params[143];      // parameters (match RX-64 buffer size)
00074 unsigned char index = 0;        // index in param buffer
00075 
00076 int checksum;                   // checksum


arbotix_firmware
Author(s): Michael Ferguson
autogenerated on Wed Aug 26 2015 10:44:15