.. _program_listing_file__tmp_ws_src_turtlebot3_manipulation_turtlebot3_manipulation_hardware_include_turtlebot3_manipulation_hardware_opencr_definitions.hpp:

Program Listing for File opencr_definitions.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot3_manipulation_turtlebot3_manipulation_hardware_include_turtlebot3_manipulation_hardware_opencr_definitions.hpp>` (``/tmp/ws/src/turtlebot3_manipulation/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/opencr_definitions.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2022 ROBOTIS CO., LTD.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // Author: Darby Lim
   
   #ifndef TURTLEBOT3_MANIPULATION_HARDWARE__OPENCR_DEFINITIONS_HPP_
   #define TURTLEBOT3_MANIPULATION_HARDWARE__OPENCR_DEFINITIONS_HPP_
   
   #include <stdint.h>
   #include <cmath>
   
   namespace robotis
   {
   namespace turtlebot3_manipulation_hardware
   {
   namespace opencr
   {
   struct IMU
   {
     struct Vector
     {
       double x = 0.0;
       double y = 0.0;
       double z = 0.0;
     };
   
     struct Quaternion
     {
       double x = 0.0;
       double y = 0.0;
       double z = 0.0;
       double w = 1.0;
     };
   
     Vector angular_velocity;
     Vector linear_acceleration;
     Quaternion orientation;
   };
   
   struct Battery
   {
     double voltage = 0.0;
     double percentage = 0.0;
     double design_capacity = 0.0;
     bool present = false;
   };
   
   namespace wheels
   {
   constexpr double SEPERATION = 0.287;
   constexpr double RADIUS = 0.033;
   
   // ref) http://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#goal-velocity104
   constexpr double RPM_TO_MS = 0.229 * (2.0 * M_PI * RADIUS) / 60.0;
   
   // ref) https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#goal-position116
   constexpr double DEG_PER_PULSE = 0.087890625;
   constexpr double TICK_TO_RAD = DEG_PER_PULSE * M_PI / 180.0;
   
   constexpr uint8_t LEFT = 0;
   constexpr uint8_t RIGHT = 1;
   }  // namespace wheels
   
   namespace joints
   {
   constexpr int32_t MIN_TICK = 0;
   constexpr int32_t MAX_TICK = 4096;
   
   constexpr double MIN_RADIAN = -M_PI;
   constexpr double MAX_RADIAN = M_PI;
   
   constexpr uint8_t JOINT1 = 0;
   constexpr uint8_t JOINT2 = 1;
   constexpr uint8_t JOINT3 = 2;
   constexpr uint8_t JOINT4 = 3;
   
   constexpr double RPM_TO_RAD_PER_SEC = 0.104719755;
   }  // namespace joints
   
   namespace grippers
   {
   constexpr double RAD_TO_METER = -0.015;
   constexpr int16_t GOAL_CURRENT = 80;
   }  // namespace grippers
   
   enum SOUND
   {
     DESCENDING = 0,
     ASCENDING,
     WARNING,
     ERROR
   };
   
   constexpr uint8_t ON = 1;
   constexpr uint8_t OFF = 0;
   }  // namespace opencr
   }  // namespace turtlebot3_manipulation_hardware
   }  // namespace robotis
   
   #endif  // TURTLEBOT3_MANIPULATION_HARDWARE__OPENCR_DEFINITIONS_HPP_