bhand_controller: puck_properties

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00001 #  puck_properties_consts.py
00002 #  
00003 #  ~~~~~~~~~~~~
00004 #  
00005 #  pyHand Constants File
00006 #  
00007 #  ~~~~~~~~~~~~
00008 #  
00009 #  ------------------------------------------------------------------
00010 #  Authors : Chloe Eghtebas,
00011 #            Brendan Ritter,
00012 #            Pravina Samaratunga,
00013 #            Jason Schwartz
00014 #  
00015 #  Last change: 08.08.2013
00016 #
00017 #  Language: Python 2.7
00018 #  ------------------------------------------------------------------
00019 # 
00020 #  This version of pyHand is free software: you can redistribute it and/or 
00021 #  modify it under the terms of the GNU General Public License as published
00022 #  by the Free Software Foundation.
00023 #  
00024 
00025 #PuckID
00026 FINGER1 = 11
00027 FINGER2 = 12
00028 FINGER3 = 13
00029 SPREAD = 14
00030 ALL_FINGERS=(FINGER1,FINGER2,FINGER3,SPREAD)
00031 GRASP=(FINGER1,FINGER2,FINGER3)
00032 #Property = ID
00033 ACCEL = 82
00034 ADDR = 6
00035 ANA0 = 18
00036 ANA1 = 19
00037 BAUD = 12
00038 CMD = 29
00039 CMD_LOAD=0
00040 CMD_SAVE=1
00041 CMD_RESET=2
00042 CMD_DEF=3
00043 CMD_GET=4
00044 CMD_FIND=5
00045 CMD_SET=6
00046 CMD_HOME=7
00047 CMD_KEEP=8
00048 CMD_LOOP=9
00049 CMD_PASS=10
00050 CMD_VERS=11
00051 CMD_ERR=12
00052 CMD_HI=13
00053 CMD_IC=14
00054 CMD_IO=15
00055 CMD_TC=16
00056 CMD_TO=17
00057 CMD_CLOSE=18
00058 CMD_MOVE=19
00059 CMD_OPEN=20
00060 CMD_TERM=21
00061 CMD_HELP=22
00062 CMD_PPSINIT=23
00063 CMD_TESTEE=24
00064 CT = 56
00065 CT2 = 57
00066 CTS = 68
00067 CTS2 = 69
00068 DEF = 32
00069 DIG0 = 14
00070 DIG1 = 15
00071 DP = 50
00072 DP2 = 51
00073 DS = 60
00074 E = 52
00075 E2 = 53
00076 ECMAX = 101
00077 ECMIN = 102
00078 EN = 94
00079 EN2 = 95
00080 ERROR = 4
00081 FET0 = 16
00082 FET1 = 17
00083 FIND = 33
00084 GRPA = 26
00085 GRPB = 27
00086 GRPC = 28
00087 HALLH = 88
00088 HALLH2 = 89
00089 HALLS = 87
00090 HOLD = 77
00091 HSG = 71
00092 ID = 3
00093 IHIT = 108
00094 IKCOR = 93
00095 IKI = 92
00096 IKP = 91
00097 ILOGIC = 24
00098 IMOTOR = 22
00099 IOFF = 74
00100 IOFF2 = 75
00101 IOFST = 62
00102 IPNM = 86
00103 IVEL = 73
00104 JIDX = 85
00105 JOFST = 98
00106 JOFST2 = 99
00107 JP = 96
00108 JP2 = 97
00109 KD = 80
00110 KI = 81
00111 KP = 79
00112 LCTC = 104
00113 LCVC = 105
00114 LFLAGS = 103
00115 LOAD = 31
00116 LOCK = 13
00117 LSG = 72
00118 M = 58
00119 M2 = 59
00120 MAX_ENCODER_TICKS=195000.0
00121 MAX_SPREAD_TICKS=36000.0
00122 MAX_FINGERTIP_TICKS=78000.0
00123 MCV = 46
00124 MDS = 65
00125 MECH = 66
00126 MECH2 = 67
00127 MODE = 8
00128 MODE_IDLE=0
00129 MODE_TORQUE=2
00130 MODE_PID=3
00131 MODE_VEL=4
00132 MODE_TRAP=5
00133 MOFST = 61
00134 MOV = 47
00135 MPE = 76
00136 MT = 43
00137 MV = 45
00138 OD = 64
00139 OT = 54
00140 OT2 = 55
00141 OTEMP = 11
00142 P = 48
00143 P2 = 49
00144 PIDX = 70
00145 POLES = 90
00146 PTEMP = 10
00147 ROLE = 1
00148 SAVE = 30
00149 SG = 25
00150 SN = 2
00151 STAT = 5
00152 T = 42
00153 TACT = 106
00154 TACT_FULL=2
00155 TACT_10=1
00156 TACTID = 107
00157 TACTID = 107
00158 TEMP = 9
00159 TENSO = 84
00160 TENST = 83
00161 THERM = 20
00162 TIE = 100
00163 TSTOP = 78
00164 UPSECS = 63
00165 V = 44
00166 VALUE = 7
00167 VBUS = 21
00168 VERS = 0
00169 VLOGIC = 23
00170 X0 = 34
00171 X1 = 35
00172 X2 = 36
00173 X3 = 37
00174 X4 = 38
00175 X5 = 39
00176 X6 = 40
00177 X7 = 41
00178 FTS = 8
00179 FTS_SG1 = 42
00180 FTS_SG2 = 43
00181 FTS_SG3 = 44
00182 FTS_SG4 = 45
00183 FTS_SG5 = 46
00184 FTS_SG6 = 47
00185 FTS_FX = 48
00186 FTS_FY = 49
00187 FTS_FZ = 50
00188 FTS_TX = 51
00189 FTS_TY = 52
00190 FTS_TZ = 53
00191 FTS_FT = 54
00192 FTS_AX = 55
00193 FTS_AY = 56
00194 FTS_AZ = 57
00195 FTS_GM = 58
00196 FTS_OV = 59
00197 FTS_LED = 60
00198 FTS_T1 = 61
00199 FTS_T2 = 62
00200 FTS_T3 = 63
00201 FTS_A = 64
00202 NO_WRITE_PROPERTIES = [ANA0, ANA1, CT2, DP2, E2, EN2, ERROR, HALLH2, ILOGIC, IMOTOR, IOFF2, JOFST2, JP2, M2, MECH, MECH2, OT2, P2, SG, TEMP, THERM, VBUS, VLOGIC]
00203 NO_READ_PROPERTIES = [CMD, CT2, DEF, DP2, E2, EN2, FIND, HALLH2, IOFF2, JOFST2, JP2, LOAD, LOCK, M, M2, MECH2, OT2, P2, SAVE]
00204 LOCKED_PROPERTIES = [DIG0, DIG1, FET0, FET1, HALLH, HALLS, OD, PTEMP, ROLE, SN]