rflex-info.h
00001 /* Player - One Hell of a Robot Server 00002 * Copyright (C) 2000 00003 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard 00004 * 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 00022 #ifndef RFLEX_INFO_H 00023 #define RFLEX_INFO_H 00024 00025 #ifndef TRUE 00026 #define TRUE 1 00027 #endif 00028 00029 #ifndef FALSE 00030 #define FALSE 0 00031 #endif 00032 00033 #define MAX_NAME_LENGTH 256 00034 #define MAX_COMMAND_LENGTH 256 00035 #define MAX_ACMD_SIZE 48 00036 #define MAX_NUM_LOOPS 30 00037 #define MAX_BUFFER_LENGTH 4096 00038 00039 #define EPSILON 0.0001 00040 00041 #define TIMEOUT -1 00042 #define WRONG 0 00043 #define OK 1 00044 00045 #define B_STX 0x02 00046 #define B_ETX 0x03 00047 #define B_ESC 0x1b 00048 00049 #define STD_TRANS_TORQUE 30000 00050 #define STD_ROT_ACC 100000 00051 #define STD_ROT_TORQUE 35000 00052 00053 #define SYS_PORT 1 00054 #define MOT_PORT 2 00055 #define JSTK_PORT 3 00056 #define SONAR_PORT 4 00057 #define DIO_PORT 5 00058 #define IR_PORT 6 00059 00060 #define SYS_LCD_DUMP 0 00061 #define SYS_STATUS 1 00062 00063 #define MOT_AXIS_GET_SYSTEM 0 00064 #define MOT_AXIS_GET_MODEL 1 00065 #define MOT_AXIS_GET_TARGET 2 00066 #define MOT_AXIS_SET_LIMITS 3 00067 #define MOT_AXIS_GET_LIMITS 4 00068 #define MOT_AXIS_SET_POS_LIMITS 5 00069 #define MOT_AXIS_GET_POS_LIMITS 6 00070 #define MOT_AXIS_SET_DIR 7 00071 #define MOT_AXIS_SET_POS 8 00072 #define MOT_AXIS_GET_MODE 9 00073 #define MOT_SET_DEFAULTS 10 00074 #define MOT_BRAKE_SET 11 00075 #define MOT_BRAKE_RELEASE 12 00076 #define MOT_SYSTEM_REPORT 33 00077 #define MOT_SYSTEM_REPORT_REQ 34 00078 #define MOT_GET_NAXES 65 00079 #define MOT_SET_GEARING 66 00080 #define MOT_GET_GEARING 67 00081 #define MOT_MOTOR_SET_MODE 68 00082 #define MOT_MOTOR_GET_MODE 69 00083 #define MOT_MOTOR_SET_PARMS 70 00084 #define MOT_MOTOR_GET_PARMS 71 00085 #define MOT_MOTOR_SET_LIMITS 72 00086 #define MOT_MOTOR_GET_LIMITS 73 00087 #define MOT_MOTOR_GET_DATA 74 00088 #define MOT_AXIS_SET_PARMS 75 00089 #define MOT_AXIS_GET_PARMS 76 00090 #define MOT_AXIS_SET_PWM_LIMIT 77 00091 #define MOT_AXIS_GET_PWM_LIMIT 78 00092 #define MOT_AXIS_SET_PWM 79 00093 #define MOT_AXIS_GET_PWM 80 00094 00095 #define SONAR_RUN 0 00096 #define SONAR_GET_UPDATE 1 00097 #define SONAR_REPORT 2 00098 00099 #define DIO_REPORTS_REQ 0 00100 #define DIO_REPORT 1 00101 #define DIO_GET_UPDATE 2 00102 #define DIO_UPDATE 3 00103 #define DIO_SET 4 00104 00105 #define IR_RUN 0 00106 #define IR_REPORT 1 00107 00108 #define JSTK_GET_STATE 0 00109 00110 enum PARITY_TYPE { N, E, O }; 00111 00112 typedef struct { 00113 char ttyport[MAX_NAME_LENGTH]; 00114 int baud; 00115 enum PARITY_TYPE parity; 00116 int fd; 00117 int databits; 00118 int stopbits; 00119 int hwf; 00120 int swf; 00121 } RFLEX_Device; 00122 00123 #endif