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server
drivers
mixed
rflex
rflex-info.h
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/* Player - One Hell of a Robot Server
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* Copyright (C) 2000
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* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
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*
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifndef RFLEX_INFO_H
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#define RFLEX_INFO_H
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#ifndef TRUE
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#define TRUE 1
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#endif
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#ifndef FALSE
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#define FALSE 0
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#endif
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#define MAX_NAME_LENGTH 256
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#define MAX_COMMAND_LENGTH 256
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#define MAX_ACMD_SIZE 48
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#define MAX_NUM_LOOPS 30
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#define MAX_BUFFER_LENGTH 4096
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#define EPSILON 0.0001
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#define TIMEOUT -1
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#define WRONG 0
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#define OK 1
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#define B_STX 0x02
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#define B_ETX 0x03
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#define B_ESC 0x1b
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#define STD_TRANS_TORQUE 30000
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#define STD_ROT_ACC 100000
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#define STD_ROT_TORQUE 35000
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#define SYS_PORT 1
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#define MOT_PORT 2
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#define JSTK_PORT 3
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#define SONAR_PORT 4
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#define DIO_PORT 5
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#define IR_PORT 6
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#define SYS_LCD_DUMP 0
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#define SYS_STATUS 1
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#define MOT_AXIS_GET_SYSTEM 0
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#define MOT_AXIS_GET_MODEL 1
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#define MOT_AXIS_GET_TARGET 2
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#define MOT_AXIS_SET_LIMITS 3
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#define MOT_AXIS_GET_LIMITS 4
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#define MOT_AXIS_SET_POS_LIMITS 5
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#define MOT_AXIS_GET_POS_LIMITS 6
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#define MOT_AXIS_SET_DIR 7
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#define MOT_AXIS_SET_POS 8
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#define MOT_AXIS_GET_MODE 9
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#define MOT_SET_DEFAULTS 10
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#define MOT_BRAKE_SET 11
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#define MOT_BRAKE_RELEASE 12
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#define MOT_SYSTEM_REPORT 33
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#define MOT_SYSTEM_REPORT_REQ 34
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#define MOT_GET_NAXES 65
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#define MOT_SET_GEARING 66
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#define MOT_GET_GEARING 67
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#define MOT_MOTOR_SET_MODE 68
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#define MOT_MOTOR_GET_MODE 69
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#define MOT_MOTOR_SET_PARMS 70
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#define MOT_MOTOR_GET_PARMS 71
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#define MOT_MOTOR_SET_LIMITS 72
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#define MOT_MOTOR_GET_LIMITS 73
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#define MOT_MOTOR_GET_DATA 74
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#define MOT_AXIS_SET_PARMS 75
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#define MOT_AXIS_GET_PARMS 76
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#define MOT_AXIS_SET_PWM_LIMIT 77
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#define MOT_AXIS_GET_PWM_LIMIT 78
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#define MOT_AXIS_SET_PWM 79
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#define MOT_AXIS_GET_PWM 80
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#define SONAR_RUN 0
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#define SONAR_GET_UPDATE 1
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#define SONAR_REPORT 2
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#define DIO_REPORTS_REQ 0
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#define DIO_REPORT 1
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#define DIO_GET_UPDATE 2
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#define DIO_UPDATE 3
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#define DIO_SET 4
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#define IR_RUN 0
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#define IR_REPORT 1
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#define JSTK_GET_STATE 0
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enum
PARITY_TYPE { N, E, O };
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typedef
struct
{
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char
ttyport[MAX_NAME_LENGTH];
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int
baud;
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enum
PARITY_TYPE parity;
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int
fd;
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int
databits;
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int
stopbits;
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int
hwf;
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int
swf;
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}
RFLEX_Device
;
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#endif
RFLEX_Device
Definition
rflex-info.h:112
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