rflex-info.h
/* Player - One Hell of a Robot Server
* Copyright (C) 2000
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef RFLEX_INFO_H
#define RFLEX_INFO_H
#ifndef TRUE
#define TRUE 1
#endif
#ifndef FALSE
#define FALSE 0
#endif
#define MAX_NAME_LENGTH 256
#define MAX_COMMAND_LENGTH 256
#define MAX_ACMD_SIZE 48
#define MAX_NUM_LOOPS 30
#define MAX_BUFFER_LENGTH 4096
#define EPSILON 0.0001
#define TIMEOUT -1
#define WRONG 0
#define OK 1
#define B_STX 0x02
#define B_ETX 0x03
#define B_ESC 0x1b
#define STD_TRANS_TORQUE 30000
#define STD_ROT_ACC 100000
#define STD_ROT_TORQUE 35000
#define SYS_PORT 1
#define MOT_PORT 2
#define JSTK_PORT 3
#define SONAR_PORT 4
#define DIO_PORT 5
#define IR_PORT 6
#define SYS_LCD_DUMP 0
#define SYS_STATUS 1
#define MOT_AXIS_GET_SYSTEM 0
#define MOT_AXIS_GET_MODEL 1
#define MOT_AXIS_GET_TARGET 2
#define MOT_AXIS_SET_LIMITS 3
#define MOT_AXIS_GET_LIMITS 4
#define MOT_AXIS_SET_POS_LIMITS 5
#define MOT_AXIS_GET_POS_LIMITS 6
#define MOT_AXIS_SET_DIR 7
#define MOT_AXIS_SET_POS 8
#define MOT_AXIS_GET_MODE 9
#define MOT_SET_DEFAULTS 10
#define MOT_BRAKE_SET 11
#define MOT_BRAKE_RELEASE 12
#define MOT_SYSTEM_REPORT 33
#define MOT_SYSTEM_REPORT_REQ 34
#define MOT_GET_NAXES 65
#define MOT_SET_GEARING 66
#define MOT_GET_GEARING 67
#define MOT_MOTOR_SET_MODE 68
#define MOT_MOTOR_GET_MODE 69
#define MOT_MOTOR_SET_PARMS 70
#define MOT_MOTOR_GET_PARMS 71
#define MOT_MOTOR_SET_LIMITS 72
#define MOT_MOTOR_GET_LIMITS 73
#define MOT_MOTOR_GET_DATA 74
#define MOT_AXIS_SET_PARMS 75
#define MOT_AXIS_GET_PARMS 76
#define MOT_AXIS_SET_PWM_LIMIT 77
#define MOT_AXIS_GET_PWM_LIMIT 78
#define MOT_AXIS_SET_PWM 79
#define MOT_AXIS_GET_PWM 80
#define SONAR_RUN 0
#define SONAR_GET_UPDATE 1
#define SONAR_REPORT 2
#define DIO_REPORTS_REQ 0
#define DIO_REPORT 1
#define DIO_GET_UPDATE 2
#define DIO_UPDATE 3
#define DIO_SET 4
#define IR_RUN 0
#define IR_REPORT 1
#define JSTK_GET_STATE 0
enum PARITY_TYPE { N, E, O };
typedef struct {
char ttyport[MAX_NAME_LENGTH];
int baud;
enum PARITY_TYPE parity;
int fd;
int databits;
int stopbits;
int hwf;
int swf;
} RFLEX_Device;
#endif
RFLEX_Device
Definition: rflex-info.h:112

Last updated 12 September 2005 21:38:45