rflex-info.h
1/* Player - One Hell of a Robot Server
2 * Copyright (C) 2000
3 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
4 *
5 *
6 * This program is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 *
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
19 *
20 */
21
22#ifndef RFLEX_INFO_H
23#define RFLEX_INFO_H
24
25#ifndef TRUE
26#define TRUE 1
27#endif
28
29#ifndef FALSE
30#define FALSE 0
31#endif
32
33#define MAX_NAME_LENGTH 256
34#define MAX_COMMAND_LENGTH 256
35#define MAX_ACMD_SIZE 48
36#define MAX_NUM_LOOPS 30
37#define MAX_BUFFER_LENGTH 4096
38
39#define EPSILON 0.0001
40
41#define TIMEOUT -1
42#define WRONG 0
43#define OK 1
44
45#define B_STX 0x02
46#define B_ETX 0x03
47#define B_ESC 0x1b
48
49#define STD_TRANS_TORQUE 30000
50#define STD_ROT_ACC 100000
51#define STD_ROT_TORQUE 35000
52
53#define SYS_PORT 1
54#define MOT_PORT 2
55#define JSTK_PORT 3
56#define SONAR_PORT 4
57#define DIO_PORT 5
58#define IR_PORT 6
59
60#define SYS_LCD_DUMP 0
61#define SYS_STATUS 1
62
63#define MOT_AXIS_GET_SYSTEM 0
64#define MOT_AXIS_GET_MODEL 1
65#define MOT_AXIS_GET_TARGET 2
66#define MOT_AXIS_SET_LIMITS 3
67#define MOT_AXIS_GET_LIMITS 4
68#define MOT_AXIS_SET_POS_LIMITS 5
69#define MOT_AXIS_GET_POS_LIMITS 6
70#define MOT_AXIS_SET_DIR 7
71#define MOT_AXIS_SET_POS 8
72#define MOT_AXIS_GET_MODE 9
73#define MOT_SET_DEFAULTS 10
74#define MOT_BRAKE_SET 11
75#define MOT_BRAKE_RELEASE 12
76#define MOT_SYSTEM_REPORT 33
77#define MOT_SYSTEM_REPORT_REQ 34
78#define MOT_GET_NAXES 65
79#define MOT_SET_GEARING 66
80#define MOT_GET_GEARING 67
81#define MOT_MOTOR_SET_MODE 68
82#define MOT_MOTOR_GET_MODE 69
83#define MOT_MOTOR_SET_PARMS 70
84#define MOT_MOTOR_GET_PARMS 71
85#define MOT_MOTOR_SET_LIMITS 72
86#define MOT_MOTOR_GET_LIMITS 73
87#define MOT_MOTOR_GET_DATA 74
88#define MOT_AXIS_SET_PARMS 75
89#define MOT_AXIS_GET_PARMS 76
90#define MOT_AXIS_SET_PWM_LIMIT 77
91#define MOT_AXIS_GET_PWM_LIMIT 78
92#define MOT_AXIS_SET_PWM 79
93#define MOT_AXIS_GET_PWM 80
94
95#define SONAR_RUN 0
96#define SONAR_GET_UPDATE 1
97#define SONAR_REPORT 2
98
99#define DIO_REPORTS_REQ 0
100#define DIO_REPORT 1
101#define DIO_GET_UPDATE 2
102#define DIO_UPDATE 3
103#define DIO_SET 4
104
105#define IR_RUN 0
106#define IR_REPORT 1
107
108#define JSTK_GET_STATE 0
109
110enum PARITY_TYPE { N, E, O };
111
112typedef struct {
113 char ttyport[MAX_NAME_LENGTH];
114 int baud;
115 enum PARITY_TYPE parity;
116 int fd;
117 int databits;
118 int stopbits;
119 int hwf;
120 int swf;
122
123#endif
Definition rflex-info.h:112