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

Last updated 12 September 2005 21:38:45