<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; 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you can redistribute it and/or modify</span> <a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span> <a name="l00011"></a>00011 <span class="comment"> *</span> <a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00016"></a>00016 <span class="comment"> *</span> <a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00020"></a>00020 <span class="comment"> *</span> <a name="l00021"></a>00021 <span class="comment"> */</span> <a name="l00022"></a>00022 <a name="l00023"></a>00023 <span class="comment">/*</span> <a name="l00024"></a>00024 <span class="comment"> *</span> <a name="l00025"></a>00025 <span class="comment"> * Relevant constants for the "ER" robots, made by Evolution Robotics.</span> <a name="l00026"></a>00026 <span class="comment"> *</span> <a name="l00027"></a>00027 <span class="comment"> * Some of this code is borrowed and/or adapted from the player</span> <a name="l00028"></a>00028 <span class="comment"> * module of trogdor; thanks to the author of that module.</span> <a name="l00029"></a>00029 <span class="comment"> */</span> <a name="l00030"></a>00030 <a name="l00031"></a>00031 <span class="preprocessor">#ifndef _ER1_DRIVER_H_</span> <a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define _ER1_DRIVER_H_</span> <a name="l00033"></a>00033 <span class="preprocessor"></span> <a name="l00034"></a>00034 <span class="preprocessor">#define ER_DEFAULT_PORT "/dev/usb/tts/0"</span> <a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#define ER_DEFAULT_LEFT_MOTOR 0</span> <a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define ER_DELAY_US 10000</span> <a name="l00037"></a>00037 <span class="preprocessor"></span> <a name="l00038"></a>00038 <a name="l00039"></a>00039 <span class="comment">/* ER1 Commands */</span> <a name="l00040"></a>00040 <a name="l00041"></a>00041 <span class="preprocessor">#define NOOP 0x00</span> <a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#define SETVEL 0x11</span> <a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#define UPDATE 0x1A</span> <a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#define GETCMDPOS 0x1D</span> <a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#define GETEVENTSTATUS 0x31</span> <a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#define RESETEVENTSTATUS 0x34</span> <a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define RESET 0x39</span> <a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#define SETMOTORCMD 0x77</span> <a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">#define SETLIMITSWITCHMODE 0x80</span> <a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#define GETVERSION 0x8F</span> <a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#define SETACCEL 0x90</span> <a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">#define SETDECEL 0x91</span> <a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#define SETPROFILEMODE 0xA0</span> <a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#define SETSTOPMODE 0xD0</span> <a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#define READANALOG 0xEF</span> <a name="l00056"></a>00056 <span class="preprocessor"></span> <a name="l00057"></a>00057 <span class="preprocessor">#define MOTOR_0 0x00</span> <a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define MOTOR_1 0x01</span> <a name="l00059"></a>00059 <span class="preprocessor"></span> <a name="l00060"></a>00060 <span class="comment">/* robot-specific info */</span> <a name="l00061"></a>00061 <span class="preprocessor">#define ER_DEFAULT_MOTOR_0_DIR -1</span> <a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor">#define ER_DEFAULT_MOTOR_1_DIR 1</span> <a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#define ER_DEFAULT_AXLE_LENGTH .38</span> <a name="l00064"></a>00064 <span class="preprocessor"></span> <a name="l00065"></a>00065 <span class="preprocessor">#define ER_MAX_TICKS 3000</span> <a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">#define ER_WHEEL_RADIUS .055</span> <a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">#define ER_WHEEL_CIRC .345575197</span> <a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">#define ER_WHEEL_STEP .45</span> <a name="l00069"></a>00069 <span class="preprocessor"></span><span class="preprocessor">#define ER_M_PER_TICK .0000058351 //JM 12/11/06</span> <a name="l00070"></a>00070 <span class="preprocessor"></span><span class="comment">//#define ER_M_PER_TICK .00000602836879 // NdT 1/4/06</span> <a name="l00071"></a>00071 <span class="comment">//#define ER_M_PER_TICK .000005700 // THC 1/23/06</span> <a name="l00072"></a>00072 <a name="l00073"></a>00073 <span class="comment">/* for safety */</span> <a name="l00074"></a>00074 <span class="preprocessor">#define ER_MAX_WHEELSPEED .500</span> <a name="l00075"></a>00075 <span class="preprocessor"></span><span class="preprocessor">#define ER_MPS_PER_TICK 1</span> <a name="l00076"></a>00076 <span class="preprocessor"></span> <a name="l00077"></a>00077 <span class="preprocessor">#define FULL_STOP 0</span> <a name="l00078"></a>00078 <span class="preprocessor"></span><span class="preprocessor">#define STOP 1</span> <a name="l00079"></a>00079 <span class="preprocessor"></span> <a name="l00080"></a>00080 <a name="l00081"></a>00081 <span class="preprocessor">#include <libplayerinterface/player.h></span> <a name="l00082"></a>00082 <span class="preprocessor">#include <libplayercore/driver.h></span> <a name="l00083"></a>00083 <span class="preprocessor">#include <libplayercore/drivertable.h></span> <a name="l00084"></a>00084 <a name="l00085"></a>00085 <a name="l00086"></a><a class="code" href="struct____attribute____.html">00086</a> <span class="keyword">typedef</span> <span class="keyword">struct</span> <a name="l00087"></a>00087 { <a name="l00088"></a>00088 <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> position; <a name="l00089"></a>00089 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) player_er1_data_t; <a name="l00090"></a>00090 <a name="l00091"></a>00091 <a name="l00092"></a>00092 <a name="l00093"></a><a class="code" href="classER.html">00093</a> class <a class="code" href="classER.html">ER</a> : public <a class="code" href="classThreadedDriver.html" title="Base class for drivers which oeprate with a thread.">ThreadedDriver</a> <a name="l00094"></a>00094 { <a name="l00095"></a>00095 <span class="keyword">private</span>: <a name="l00096"></a>00096 player_er1_data_t er1_data; <a name="l00097"></a>00097 <a name="l00098"></a>00098 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> position_id; <a name="l00099"></a>00099 <span class="keywordtype">int</span> position_subscriptions; <a name="l00100"></a>00100 <a name="l00101"></a>00101 <span class="keyword">public</span>: <a name="l00102"></a>00102 <a class="code" href="classER.html">ER</a>(<a class="code" href="classConfigFile.html" title="Class for loading configuration file information.">ConfigFile</a>* cf, <span class="keywordtype">int</span> section); <a name="l00103"></a>00103 <a name="l00104"></a>00104 <span class="comment">// public, so that it can be called from pthread cleanup function</span> <a name="l00105"></a>00105 <span class="keywordtype">int</span> SetVelocity(<span class="keywordtype">double</span> lvel, <span class="keywordtype">double</span> rvel); <a name="l00106"></a>00106 <span class="keywordtype">void</span> Stop( <span class="keywordtype">int</span> StopMode ); <a name="l00107"></a>00107 <span class="keyword">virtual</span> <span class="keywordtype">void</span> Main(); <a name="l00108"></a>00108 <span class="keyword">virtual</span> <span class="keywordtype">int</span> MainSetup(); <a name="l00109"></a>00109 <span class="keyword">virtual</span> <span class="keywordtype">void</span> MainQuit(); <a name="l00110"></a>00110 <a name="l00111"></a>00111 <span class="comment">// MessageHandler</span> <a name="l00112"></a>00112 <span class="keyword">virtual</span> <span class="keywordtype">int</span> ProcessMessage(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> & resp_queue, <a name="l00113"></a>00113 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <a name="l00114"></a>00114 <span class="keywordtype">void</span> * data); <a name="l00115"></a>00115 <span class="keywordtype">void</span> Test(); <a name="l00116"></a>00116 <a name="l00117"></a>00117 <span class="keyword">private</span>: <a name="l00118"></a>00118 <span class="comment">// this function will be run in a separate thread</span> <a name="l00119"></a>00119 <span class="keywordtype">int</span> InitOdom(); <a name="l00120"></a>00120 <span class="keywordtype">int</span> InitRobot(); <a name="l00121"></a>00121 <a name="l00122"></a>00122 <span class="comment">//serial connection</span> <a name="l00123"></a>00123 <span class="keywordtype">int</span> *_tc_num; <a name="l00124"></a>00124 <span class="keywordtype">int</span> _fd; <span class="comment">// device file descriptor</span> <a name="l00125"></a>00125 <span class="keyword">const</span> <span class="keywordtype">char</span>* _serial_port; <span class="comment">// name of dev file</span> <a name="l00126"></a>00126 <span class="keywordtype">bool</span> _fd_blocking; <a name="l00127"></a>00127 <a name="l00128"></a>00128 <span class="comment">// methods for internal use</span> <a name="l00129"></a>00129 <span class="keywordtype">int</span> WriteBuf(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* s, <span class="keywordtype">size_t</span> len); <a name="l00130"></a>00130 <span class="keywordtype">int</span> ReadBuf(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* s, <span class="keywordtype">size_t</span> len); <a name="l00131"></a>00131 <span class="keywordtype">int</span> SendCommand(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * cmd, <span class="keywordtype">int</span> cmd_len, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * ret_val, <span class="keywordtype">int</span> ret_len); <a name="l00132"></a>00132 <span class="keywordtype">int</span> checksum_ok (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buf, <span class="keywordtype">int</span> len); <a name="l00133"></a>00133 <a name="l00134"></a>00134 <span class="keywordtype">int</span> ComputeTickDiff(<span class="keywordtype">int</span> from, <span class="keywordtype">int</span> to); <a name="l00135"></a>00135 <span class="keywordtype">int</span> ChangeMotorState(<span class="keywordtype">int</span> state); <a name="l00136"></a>00136 <span class="keywordtype">int</span> BytesToInt32(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *ptr); <a name="l00137"></a>00137 <span class="keywordtype">float</span> BytesToFloat(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *ptr); <a name="l00138"></a>00138 <span class="keywordtype">void</span> UpdateOdom(<span class="keywordtype">int</span> ltics, <span class="keywordtype">int</span> rtics); <a name="l00139"></a>00139 <span class="keywordtype">void</span> SpeedCommand( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> address, <span class="keywordtype">double</span> speed, <span class="keywordtype">int</span> dir ); <a name="l00140"></a>00140 <span class="keywordtype">void</span> SetOdometry (<span class="keywordtype">long</span>,<span class="keywordtype">long</span>,<span class="keywordtype">long</span>); <a name="l00141"></a>00141 <span class="keywordtype">void</span> ResetOdometry(); <a name="l00142"></a>00142 <span class="comment">//periodic functions</span> <a name="l00143"></a>00143 <span class="keywordtype">int</span> GetOdom(<span class="keywordtype">int</span> *ltics, <span class="keywordtype">int</span> *rtics); <a name="l00144"></a>00144 <span class="keywordtype">int</span> GetBatteryVoltage(<span class="keywordtype">int</span>* voltage); <a name="l00145"></a>00145 <span class="keywordtype">int</span> GetRangeSensor( <span class="keywordtype">int</span> s, <span class="keywordtype">float</span> * val ); <a name="l00146"></a>00146 <span class="keywordtype">void</span> MotorSpeed(); <a name="l00147"></a>00147 <a name="l00148"></a>00148 <span class="comment">//er values</span> <a name="l00149"></a>00149 <span class="keywordtype">double</span> _axle_length; <a name="l00150"></a>00150 <span class="keywordtype">int</span> _motor_0_dir; <a name="l00151"></a>00151 <span class="keywordtype">int</span> _motor_1_dir; <a name="l00152"></a>00152 <a name="l00153"></a>00153 <span class="comment">//internal info</span> <a name="l00154"></a>00154 <span class="keywordtype">bool</span> _debug; <a name="l00155"></a>00155 <span class="keywordtype">bool</span> _need_to_set_speed; <a name="l00156"></a>00156 <span class="keywordtype">bool</span> _odom_initialized; <a name="l00157"></a>00157 <span class="keywordtype">bool</span> _stopped; <a name="l00158"></a>00158 <span class="keywordtype">int</span> _last_ltics, _last_rtics; <a name="l00159"></a>00159 <span class="keywordtype">double</span> _px, _py, _pa; <span class="comment">// integrated odometric pose (m,m,rad)</span> <a name="l00160"></a>00160 <span class="keywordtype">int</span> _powered, _resting; <span class="comment">// If _powered is false, no constant updates. _resting means the last update was a 0,0 one.</span> <a name="l00161"></a>00161 <a name="l00162"></a>00162 <span class="keywordtype">int</span> send_command( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> address, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c, <span class="keywordtype">int</span> ret_num, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * ret ); <a name="l00163"></a>00163 <span class="keywordtype">int</span> send_command_2_arg( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> address, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c, <span class="keywordtype">int</span> arg, <span class="keywordtype">int</span> ret_num, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * ret ); <a name="l00164"></a>00164 <span class="keywordtype">int</span> send_command_4_arg( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> address, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c, <span class="keywordtype">int</span> arg, <span class="keywordtype">int</span> ret_num, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * ret ); <a name="l00165"></a>00165 <a name="l00166"></a>00166 }; <a name="l00167"></a>00167 <span class="preprocessor">#endif</span> <a name="l00168"></a>00168 <span class="preprocessor"></span> </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>