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<h1>wbr914.h</h1> </div>
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<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2000</span>
<a name="l00004"></a>00004 <span class="comment"> * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * This program is free software; 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"> * $Id: wbr914.h 7297 2009-01-24 23:14:21Z thjc $</span>
<a name="l00025"></a>00025 <span class="comment"> *</span>
<a name="l00026"></a>00026 <span class="comment"> * the P2OS device. it's the parent device for all the P2 'sub-devices',</span>
<a name="l00027"></a>00027 <span class="comment"> * like gripper, position, sonar, etc. there's a thread here that</span>
<a name="l00028"></a>00028 <span class="comment"> * actually interacts with P2OS via the serial line. the other</span>
<a name="l00029"></a>00029 <span class="comment"> * "devices" communicate with this thread by putting into and getting</span>
<a name="l00030"></a>00030 <span class="comment"> * data out of shared buffers.</span>
<a name="l00031"></a>00031 <span class="comment"> */</span>
<a name="l00032"></a>00032 <span class="preprocessor">#ifndef _WBR914_H</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span><span class="preprocessor">#define _WBR914_H</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <termios.h></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <pthread.h></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <sys/time.h></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <replace/replace.h></span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">// Default max speeds</span>
<a name="l00043"></a>00043 <span class="preprocessor">#define MOTOR_DEF_MAX_SPEED 0.3</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#define MOTOR_DEF_MAX_TURNSPEED DTOR(100)</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#define ACCELERATION_DEFAULT 100</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#define DECELERATION_DEFAULT 250</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span>
<a name="l00048"></a>00048 <span class="comment">/* PMD3410 command codes */</span>
<a name="l00049"></a>00049 <span class="preprocessor">#define NOOP 0x00</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#define SETPOS 0x10</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#define SETVEL 0x11</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">#define UPDATE 0x1A</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#define GETCMDPOS 0x1D</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#define GETCMDVEL 0x1E</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#define GETEVENTSTATUS 0x31</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define RESETEVENTSTATUS 0x34</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#define GETACTUALPOS 0x37</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define RESET 0x39</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define SETACTUALPOS 0x4D</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">#define GETSAMPLETIME 0x61</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span><span class="preprocessor">#define SETPHASECOUNTS 0x75</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor">#define SETMOTORCMD 0x77</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#define SETLIMITSWITCHMODE 0x80</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span><span class="preprocessor">#define WRITEDIGITAL 0x82</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span><span class="preprocessor">#define READDIGITAL 0x83</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">#define GETVERSION 0x8F</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">#define SETACCEL 0x90</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">#define SETDECEL 0x91</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span><span class="preprocessor">#define SETPROFILEMODE 0xA0</span>
<a name="l00070"></a>00070 <span class="preprocessor"></span><span class="preprocessor">#define GETACTUALVEL 0xAD</span>
<a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">#define SETSTOPMODE 0xD0</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span><span class="preprocessor">#define SETMOTORMODE 0xDC</span>
<a name="l00073"></a>00073 <span class="preprocessor"></span><span class="preprocessor">#define SETOUTPUTMODE 0xE0</span>
<a name="l00074"></a>00074 <span class="preprocessor"></span><span class="preprocessor">#define READANALOG 0xEF</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span>
<a name="l00076"></a>00076 <span class="preprocessor">#define MOTOR_0 ((unsigned char)0x00)</span>
<a name="l00077"></a>00077 <span class="preprocessor"></span><span class="preprocessor">#define MOTOR_1 ((unsigned char)0x01)</span>
<a name="l00078"></a>00078 <span class="preprocessor"></span>
<a name="l00079"></a>00079 <span class="comment">/* Robot configuration */</span>
<a name="l00080"></a>00080 <span class="preprocessor">#define LEFT_MOTOR MOTOR_1</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#define RIGHT_MOTOR MOTOR_0</span>
<a name="l00082"></a>00082 <span class="preprocessor"></span>
<a name="l00083"></a>00083 <span class="comment">/* Connection stuff */</span>
<a name="l00084"></a>00084 <span class="preprocessor">#define DEFAULT_M3_PORT "/dev/ttyUSB0"</span>
<a name="l00085"></a>00085 <span class="preprocessor"></span>
<a name="l00086"></a>00086 <span class="preprocessor">#define DELAY_US 10000</span>
<a name="l00087"></a>00087 <span class="preprocessor"></span>
<a name="l00088"></a>00088 <span class="keyword">typedef</span> <span class="keyword">enum</span> {
<a name="l00089"></a>00089 TrapezoidalProfile = 0,
<a name="l00090"></a>00090 VelocityContouringProfile,
<a name="l00091"></a>00091 SCurveProfile,
<a name="l00092"></a>00092 } ProfileMode_t;
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="keyword">typedef</span> <span class="keyword">enum</span> {
<a name="l00095"></a>00095 NoStopMode = 0,
<a name="l00096"></a>00096 AbruptStopMode,
<a name="l00097"></a>00097 SmoothStopMode
<a name="l00098"></a>00098 } StopMode;
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="comment">/* robot-specific info */</span>
<a name="l00101"></a>00101 <span class="preprocessor">#define DEFAULT_MOTOR_0_DIR -1</span>
<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="preprocessor">#define DEFAULT_MOTOR_1_DIR 1</span>
<a name="l00103"></a>00103 <span class="preprocessor"></span><span class="preprocessor">#define DEFAULT_AXLE_LENGTH (0.301)</span>
<a name="l00104"></a>00104 <span class="preprocessor"></span>
<a name="l00105"></a>00105 <span class="preprocessor">#define MAX_TICKS 48000</span>
<a name="l00106"></a>00106 <span class="preprocessor"></span><span class="preprocessor">#define WHEEL_DIAMETER (0.125)</span>
<a name="l00107"></a>00107 <span class="preprocessor"></span><span class="preprocessor">#define WHEEL_RADIUS (WHEEL_DIAMETER/2.0)</span>
<a name="l00108"></a>00108 <span class="preprocessor"></span><span class="preprocessor">#define WHEEL_CIRC (M_PI*WHEEL_DIAMETER)</span>
<a name="l00109"></a>00109 <span class="preprocessor"></span><span class="preprocessor">#define MOTOR_STEP (1.8/MOTOR_TICKS_PER_STEP)</span>
<a name="l00110"></a>00110 <span class="preprocessor"></span><span class="preprocessor">#define GEAR_RATIO (4.8)</span>
<a name="l00111"></a>00111 <span class="preprocessor"></span><span class="preprocessor">#define WHEEL_STEP (MOTOR_STEP/GEAR_RATIO)</span>
<a name="l00112"></a>00112 <span class="preprocessor"></span><span class="preprocessor">#define M_PER_TICK (WHEEL_RADIUS/WHEEL_STEP)</span>
<a name="l00113"></a>00113 <span class="preprocessor"></span><span class="preprocessor">#define MOTOR_TICKS_PER_STEP (64.0)</span>
<a name="l00114"></a>00114 <span class="preprocessor"></span><span class="preprocessor">#define MOTOR_TICKS_PER_REV (200.0*MOTOR_TICKS_PER_STEP)</span>
<a name="l00115"></a>00115 <span class="preprocessor"></span><span class="preprocessor">#define NUM_IR_SENSORS 8</span>
<a name="l00116"></a>00116 <span class="preprocessor"></span>
<a name="l00117"></a>00117 <span class="comment">/* for safety */</span>
<a name="l00118"></a>00118 <span class="preprocessor">#define MAX_WHEELSPEED 8000</span>
<a name="l00119"></a>00119 <span class="preprocessor"></span><span class="preprocessor">#define MPS_PER_TICK 1 // TODO: what is this?</span>
<a name="l00120"></a>00120 <span class="preprocessor"></span>
<a name="l00121"></a>00121 <span class="preprocessor">#define FULL_STOP 0</span>
<a name="l00122"></a>00122 <span class="preprocessor"></span><span class="preprocessor">#define STOP 1</span>
<a name="l00123"></a>00123 <span class="preprocessor"></span>
<a name="l00124"></a>00124 <span class="preprocessor">#define DEFAULT_PERCENT_TORQUE 75</span>
<a name="l00125"></a>00125 <span class="preprocessor"></span>
<a name="l00126"></a>00126
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00129"></a>00129 {
<a name="l00130"></a>00130 <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> position;
<a name="l00131"></a>00131 <a class="code" href="structplayer__ir__data.html" title="Data: ranges (PLAYER_IR_DATA_RANGES).">player_ir_data_t</a> ir;
<a name="l00132"></a>00132 <a class="code" href="structplayer__aio__data.html" title="Data: state (PLAYER_AIO_DATA_STATE).">player_aio_data_t</a> aio;
<a name="l00133"></a>00133 <a class="code" href="structplayer__dio__data.html" title="Data: input values (PLAYER_DIO_DATA_VALUES).">player_dio_data_t</a> dio;
<a name="l00134"></a>00134 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) player_data_t;
<a name="l00135"></a>00135
<a name="l00136"></a>00136
<a name="l00137"></a><a class="code" href="classwbr914.html">00137</a> class <a class="code" href="classwbr914.html">wbr914</a> : public <a class="code" href="classThreadedDriver.html" title="Base class for drivers which oeprate with a thread.">ThreadedDriver</a>
<a name="l00138"></a>00138 {
<a name="l00139"></a>00139 <span class="keyword">public</span>:
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <a class="code" href="classwbr914.html">wbr914</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="l00142"></a>00142 <span class="keyword">virtual</span> ~<a class="code" href="classwbr914.html">wbr914</a>();
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <span class="keyword">virtual</span> <span class="keywordtype">int</span> Subscribe(<a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> <span class="keywordtype">id</span>);
<a name="l00145"></a>00145 <span class="keyword">virtual</span> <span class="keywordtype">int</span> Unsubscribe(<a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> <span class="keywordtype">id</span>);
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="comment">/* the main thread */</span>
<a name="l00148"></a>00148 <span class="keyword">virtual</span> <span class="keywordtype">void</span> Main();
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="keyword">virtual</span> <span class="keywordtype">int</span> MainSetup();
<a name="l00151"></a>00151 <span class="keyword">virtual</span> <span class="keywordtype">void</span> MainQuit();
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="comment">// MessageHandler</span>
<a name="l00154"></a>00154 <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="l00155"></a>00155 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr,
<a name="l00156"></a>00156 <span class="keywordtype">void</span> * data);
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="comment">// Private Member Functions</span>
<a name="l00159"></a>00159 <span class="keyword">private</span>:
<a name="l00160"></a>00160 <span class="keywordtype">bool</span> RecvBytes( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*s, <span class="keywordtype">int</span> len );
<a name="l00161"></a>00161 <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="l00162"></a>00162 <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="l00163"></a>00163 <span class="keywordtype">int</span> sendCmdCom( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> address, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c,
<a name="l00164"></a>00164 <span class="keywordtype">int</span> cmd_num, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* arg,
<a name="l00165"></a>00165 <span class="keywordtype">int</span> ret_num, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * ret );
<a name="l00166"></a>00166 <span class="keywordtype">int</span> sendCmd0( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> address, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c,
<a name="l00167"></a>00167 <span class="keywordtype">int</span> ret_num, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * ret );
<a name="l00168"></a>00168 <span class="keywordtype">int</span> sendCmd16( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> address, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c,
<a name="l00169"></a>00169 int16_t arg, <span class="keywordtype">int</span> ret_num, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * ret );
<a name="l00170"></a>00170 <span class="keywordtype">int</span> sendCmd32( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> address, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c,
<a name="l00171"></a>00171 int32_t arg, <span class="keywordtype">int</span> ret_num, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * ret );
<a name="l00172"></a>00172
<a name="l00173"></a>00173 int32_t BytesToInt32( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *ptr );
<a name="l00174"></a>00174 int16_t BytesToInt16( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *ptr );
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="keywordtype">int</span> ResetRawPositions();
<a name="l00177"></a>00177 <span class="keywordtype">int</span> HandleConfig(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue,
<a name="l00178"></a>00178 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr,
<a name="l00179"></a>00179 <span class="keywordtype">void</span>* data);
<a name="l00180"></a>00180
<a name="l00181"></a>00181 <span class="comment">// Command handlers</span>
<a name="l00182"></a>00182 <span class="keywordtype">int</span> HandleCommand(<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <span class="keywordtype">void</span> * data);
<a name="l00183"></a>00183 <span class="keywordtype">void</span> HandleVelocityCommand(<a class="code" href="structplayer__position2d__cmd__vel.html" title="position 2d velocity command">player_position2d_cmd_vel_t</a>* cmd );
<a name="l00184"></a>00184 <span class="keywordtype">void</span> HandleDigitalOutCommand( <a class="code" href="structplayer__dio__data.html" title="Data: input values (PLAYER_DIO_DATA_VALUES).">player_dio_data_t</a>* doutCmd );
<a name="l00185"></a>00185 <span class="keywordtype">void</span> SetDigitalData( <a class="code" href="structplayer__dio__data.html" title="Data: input values (PLAYER_DIO_DATA_VALUES).">player_dio_data_t</a> * d );
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="comment">// Robot data retrievers</span>
<a name="l00188"></a>00188 <span class="keywordtype">void</span> GetAllData( <span class="keywordtype">void</span> );
<a name="l00189"></a>00189 <span class="keywordtype">void</span> GetPositionData( <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a>* d );
<a name="l00190"></a>00190 <span class="keywordtype">void</span> GetIRData( <a class="code" href="structplayer__ir__data.html" title="Data: ranges (PLAYER_IR_DATA_RANGES).">player_ir_data_t</a> * d );
<a name="l00191"></a>00191 <span class="keywordtype">void</span> GetAnalogData( <a class="code" href="structplayer__aio__data.html" title="Data: state (PLAYER_AIO_DATA_STATE).">player_aio_data_t</a> * d );
<a name="l00192"></a>00192 <span class="keywordtype">void</span> GetDigitalData( <a class="code" href="structplayer__dio__data.html" title="Data: input values (PLAYER_DIO_DATA_VALUES).">player_dio_data_t</a> * d );
<a name="l00193"></a>00193
<a name="l00194"></a>00194 <span class="keywordtype">void</span> PublishData(<span class="keywordtype">void</span>);
<a name="l00195"></a>00195
<a name="l00196"></a>00196 <span class="comment">/* Robot commands */</span>
<a name="l00197"></a>00197 <span class="keyword">const</span> <span class="keywordtype">char</span>* GetPMDErrorString( <span class="keywordtype">int</span> rc );
<a name="l00198"></a>00198 <span class="keywordtype">int</span> InitRobot();
<a name="l00199"></a>00199 <span class="keywordtype">void</span> UpdateM3();
<a name="l00200"></a>00200 <span class="keywordtype">void</span> Stop( <span class="keywordtype">int</span> StopMode );
<a name="l00201"></a>00201
<a name="l00202"></a>00202 <span class="keywordtype">bool</span> EnableMotors( <span class="keywordtype">bool</span> enable );
<a name="l00203"></a>00203
<a name="l00204"></a>00204 <span class="keywordtype">void</span> SetVelocity( uint8_t chan, <span class="keywordtype">float</span> mps );
<a name="l00205"></a>00205 <span class="keywordtype">void</span> SetVelocity( <span class="keywordtype">float</span> mpsL, <span class="keywordtype">float</span> mpsR );
<a name="l00206"></a>00206 <span class="keywordtype">void</span> SetVelocityInTicks( int32_t left, int32_t right );
<a name="l00207"></a>00207 <span class="keywordtype">void</span> GetVelocityInTicks( int32_t* left, int32_t* right );
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <span class="keywordtype">void</span> Move( uint8_t chan, <span class="keywordtype">float</span> meters );
<a name="l00210"></a>00210 <span class="keywordtype">void</span> Move( <span class="keywordtype">float</span> metersL, <span class="keywordtype">float</span> metersR );
<a name="l00211"></a>00211
<a name="l00212"></a>00212 <span class="keywordtype">void</span> SetPosition( uint8_t chan, <span class="keywordtype">float</span> meters );
<a name="l00213"></a>00213 <span class="keywordtype">void</span> SetPosition( <span class="keywordtype">float</span> metersL, <span class="keywordtype">float</span> metersR );
<a name="l00214"></a>00214 <span class="keywordtype">void</span> SetActualPositionInTicks( int32_t left, int32_t right );
<a name="l00215"></a>00215 <span class="keywordtype">void</span> SetActualPosition( <span class="keywordtype">float</span> left, <span class="keywordtype">float</span> right );
<a name="l00216"></a>00216 <span class="keywordtype">void</span> GetPositionInTicks( int32_t* left, int32_t* right );
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <span class="keywordtype">void</span> SetAccelerationProfile();
<a name="l00219"></a>00219 <span class="keywordtype">void</span> StopRobot();
<a name="l00220"></a>00220 <span class="keywordtype">int</span> GetAnalogSensor(<span class="keywordtype">int</span> s, <span class="keywordtype">short</span> * val );
<a name="l00221"></a>00221 <span class="keywordtype">void</span> GetDigitalIn( <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>* digIn );
<a name="l00222"></a>00222 <span class="keywordtype">void</span> SetDigitalOut( <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> digOut );
<a name="l00223"></a>00223 <span class="keywordtype">void</span> SetOdometry( <a class="code" href="structplayer__position2d__set__odom__req.html" title="set odometry">player_position2d_set_odom_req_t</a>* od );
<a name="l00224"></a>00224 <span class="keywordtype">void</span> SetContourMode( ProfileMode_t prof );
<a name="l00225"></a>00225 <span class="keywordtype">void</span> SetMicrosteps();
<a name="l00226"></a>00226
<a name="l00227"></a>00227
<a name="l00228"></a>00228 <span class="comment">/* Conversions */</span>
<a name="l00229"></a>00229 int32_t Meters2Ticks( <span class="keywordtype">float</span> meters );
<a name="l00230"></a>00230 <span class="keywordtype">float</span> Ticks2Meters( int32_t ticks );
<a name="l00231"></a>00231 int32_t MPS2Vel( <span class="keywordtype">float</span> mps );
<a name="l00232"></a>00232 <span class="keywordtype">float</span> Vel2MPS( int32_t vel );
<a name="l00233"></a>00233
<a name="l00234"></a>00234 <span class="comment">// Private Data members</span>
<a name="l00235"></a>00235 <span class="keyword">private</span>:
<a name="l00236"></a>00236 <span class="comment">// Comm info for connection to M3 controller</span>
<a name="l00237"></a>00237 <span class="keyword">struct </span>termios _old_tio;
<a name="l00238"></a>00238 <span class="keywordtype">bool</span> _tioChanged;
<a name="l00239"></a>00239
<a name="l00240"></a>00240 <span class="keywordtype">int</span> _fd;
<a name="l00241"></a>00241 <span class="keywordtype">bool</span> _fd_blocking;
<a name="l00242"></a>00242 <span class="keyword">const</span> <span class="keywordtype">char</span>* _serial_port; <span class="comment">// name of serial port device</span>
<a name="l00243"></a>00243 <span class="keywordtype">int</span> _baud;
<a name="l00244"></a>00244
<a name="l00245"></a>00245 player_data_t _data;
<a name="l00246"></a>00246
<a name="l00247"></a>00247 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> position_id;
<a name="l00248"></a>00248 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> ir_id;
<a name="l00249"></a>00249 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> aio_id;
<a name="l00250"></a>00250 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> dio_id;
<a name="l00251"></a>00251
<a name="l00252"></a>00252 <span class="comment">// bookkeeping to track whether an interface has been subscribed</span>
<a name="l00253"></a>00253 <span class="keywordtype">int</span> position_subscriptions;
<a name="l00254"></a>00254 <span class="keywordtype">int</span> ir_subscriptions;
<a name="l00255"></a>00255 <span class="keywordtype">int</span> aio_subscriptions;
<a name="l00256"></a>00256 <span class="keywordtype">int</span> dio_subscriptions;
<a name="l00257"></a>00257
<a name="l00258"></a>00258 <span class="keywordtype">int</span> param_idx; <span class="comment">// index in the RobotParams table for this robot</span>
<a name="l00259"></a>00259 <span class="keywordtype">int</span> direct_wheel_vel_control; <span class="comment">// false -> separate trans and rot vel</span>
<a name="l00260"></a>00260
<a name="l00261"></a>00261 <a class="code" href="structplayer__position2d__cmd__vel.html" title="position 2d velocity command">player_position2d_cmd_vel_t</a> last_position_cmd;
<a name="l00262"></a>00262
<a name="l00263"></a>00263 <span class="comment">// Max motor speeds (mm/sec,deg/sec)</span>
<a name="l00264"></a>00264 <span class="keywordtype">int</span> motor_max_speed;
<a name="l00265"></a>00265 <span class="keywordtype">int</span> motor_max_turnspeed;
<a name="l00266"></a>00266
<a name="l00267"></a>00267 <span class="comment">// Max motor accel/decel (mm/sec/sec, deg/sec/sec)</span>
<a name="l00268"></a>00268 <span class="keywordtype">short</span> motor_max_trans_accel, motor_max_trans_decel;
<a name="l00269"></a>00269 <span class="keywordtype">short</span> motor_max_rot_accel, motor_max_rot_decel;
<a name="l00270"></a>00270
<a name="l00271"></a>00271 <span class="comment">// Geometry</span>
<a name="l00272"></a>00272 <span class="comment">// Robot Geometry</span>
<a name="l00273"></a>00273 <a class="code" href="structplayer__position2d__geom.html" title="position2d geom">player_position2d_geom_t</a> _robot2d_geom;
<a name="l00274"></a>00274 <a class="code" href="structplayer__position3d__geom.html" title="Request/reply: Query geometry.">player_position3d_geom_t</a> _robot3d_geom;
<a name="l00275"></a>00275 <a class="code" href="structplayer__ir__pose.html" title="Request/reply: get pose.">player_ir_pose_t</a> _ir_geom;
<a name="l00276"></a>00276
<a name="l00277"></a>00277 <span class="comment">// Odometry stuff</span>
<a name="l00278"></a>00278 int32_t last_lpos;
<a name="l00279"></a>00279 int32_t last_rpos;
<a name="l00280"></a>00280 <span class="keywordtype">double</span> _x;
<a name="l00281"></a>00281 <span class="keywordtype">double</span> _y;
<a name="l00282"></a>00282 <span class="keywordtype">double</span> _yaw;
<a name="l00283"></a>00283
<a name="l00284"></a>00284 <span class="comment">// State</span>
<a name="l00285"></a>00285 <span class="keywordtype">bool</span> _stopped;
<a name="l00286"></a>00286 <span class="keywordtype">bool</span> _motorsEnabled;
<a name="l00287"></a>00287 <span class="keywordtype">int</span> _debug;
<a name="l00288"></a>00288 <span class="keywordtype">int</span> _usCycleTime;
<a name="l00289"></a>00289 <span class="keywordtype">double</span> _velocityK;
<a name="l00290"></a>00290 <span class="keywordtype">double</span> _positionK;
<a name="l00291"></a>00291 <span class="keywordtype">int</span> _percentTorque;
<a name="l00292"></a>00292
<a name="l00293"></a>00293 uint16_t _lastDigOut;
<a name="l00294"></a>00294 };
<a name="l00295"></a>00295
<a name="l00296"></a>00296
<a name="l00297"></a>00297 <span class="preprocessor">#endif</span>
</pre></div></div>
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Last updated 12 September 2005 21:38:45
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