/home/fwph/code/wurde/modules/rFlexBase/RFlex.cpp File Reference

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Variables
static const double	B21_MAGIC_DISTANCE = 101230.0
static const double	B21_MAGIC_ANGLE = 35343.888
static const double	B21_MAGIC_TORQUE = 35000.0
static const double	ATRVJR_MAGIC_DISTANCE = 90810.0
static const double	ATRVJR_MAGIC_ANGLE = 37000.0
static const double	ATRVJR_MAGIC_TORQUE = 35000.0
static const int	PROTOCOL_SIZE = 9
static const int	PACKET_CRC_START = 2
static const int	PACKET_CRC_OFFSET = 4
static const unsigned char	NUL = 0
static const unsigned char	SOH = 1
static const unsigned char	STX = 2
static const unsigned char	ETX = 3
static const unsigned char	ESC = 27
static const unsigned int	SYSTEM_PORT = 1
static const unsigned int	MOTOR_PORT = 2
static const unsigned int	JOYSTICK_PORT = 3
static const unsigned int	SONAR_PORT = 4
static const unsigned int	DIGITAL_IO_PORT = 5
static const unsigned int	IR_PORT = 6
static const int	PACKET_PORT_BYTE = 2
static const int	PACKET_ID_BYTE = 3
static const int	PACKET_OPCODE_BYTE = 4
static const int	PACKET_SIZE_BYTE = 5
static const int	PACKET_DATA_START_BYTE = 6
static const int	SYSTEM_LCD_DUMP = 0
static const int	SYSTEM_STATUS = 1
static const int	MOTOR_AXIS_GET_SYSTEM = 0
static const int	MOTOR_AXIS_GET_MODEL = 1
static const int	MOTOR_AXIS_GET_TARGET = 2
static const int	MOTOR_AXIS_SET_LIMITS = 3
static const int	MOTOR_AXIS_GET_LIMITS = 4
static const int	MOTOR_AXIS_SET_POS_LIMITS = 5
static const int	MOTOR_AXIS_GET_POS_LIMITS = 6
static const int	MOTOR_AXIS_SET_DIR = 7
static const int	MOTOR_AXIS_SET_POS = 8
static const int	MOTOR_AXIS_GET_MODE = 9
static const int	MOTOR_SET_DEFAULTS = 10
static const int	MOTOR_BRAKE_SET = 11
static const int	MOTOR_BRAKE_RELEASE = 12
static const int	MOTOR_SYSTEM_REPORT = 33
static const int	MOTOR_SYSTEM_REPORT_REQUEST = 34
static const int	MOTOR_GET_NAXES = 65
static const int	MOTOR_SET_GEARING = 66
static const int	MOTOR_GET_GEARING = 67
static const int	MOTOR_MOTOR_SET_MODE = 68
static const int	MOTOR_MOTOR_GET_MODE = 69
static const int	MOTOR_MOTOR_SET_PARMS = 70
static const int	MOTOR_MOTOR_GET_PARMS = 71
static const int	MOTOR_MOTOR_SET_LIMITS = 72
static const int	MOTOR_MOTOR_GET_LIMITS = 73
static const int	MOTOR_MOTOR_GET_DATA = 74
static const int	MOTOR_AXIS_SET_PARMS = 75
static const int	MOTOR_AXIS_GET_PARMS = 76
static const int	MOTOR_AXIS_SET_PWM_LIMIT = 77
static const int	MOTOR_AXIS_GET_PWM_LIMIT = 78
static const int	MOTOR_AXIS_SET_PWM = 79
static const int	MOTOR_AXIS_GET_PWM = 80
static const int	JOYSTICK_GET_STATE = 0
static const int	SONAR_RUN = 0
static const int	SONAR_GET_UPDATE = 1
static const int	SONAR_REPORT = 2
static const unsigned char	SONAR_OFF = 0
static const unsigned char	SONAR_REPORT_ON_REQUEST = 1
static const unsigned char	SONAR_CONTINUOUS_REPORT = 2
static const int	DIGITAL_IO_REPORT_REQUEST = 0
static const int	DIGITAL_IO_REPORT = 1
static const int	DIGITAL_IO_GET_UPDATE = 2
static const int	DIGITAL_IO_UPDATE = 3
static const int	DIGITAL_IO_SET = 4
static const int	IR_RUN = 0
static const int	IR_REPORT = 1

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Variable Documentation

const double ATRVJR_MAGIC_ANGLE = 37000.0 [static]

Definition at line 19 of file RFlex.cpp.

Referenced by RFlex::RFlex().

const double ATRVJR_MAGIC_DISTANCE = 90810.0 [static]

Definition at line 18 of file RFlex.cpp.

Referenced by RFlex::RFlex().

const double ATRVJR_MAGIC_TORQUE = 35000.0 [static]

Definition at line 20 of file RFlex.cpp.

Referenced by RFlex::RFlex().

const double B21_MAGIC_ANGLE = 35343.888 [static]

Definition at line 15 of file RFlex.cpp.

Referenced by RFlex::RFlex().

const double B21_MAGIC_DISTANCE = 101230.0 [static]

Definition at line 14 of file RFlex.cpp.

Referenced by RFlex::RFlex().

const double B21_MAGIC_TORQUE = 35000.0 [static]

Definition at line 16 of file RFlex.cpp.

Referenced by RFlex::RFlex().

const int DIGITAL_IO_GET_UPDATE = 2 [static]

Definition at line 98 of file RFlex.cpp.

const unsigned int DIGITAL_IO_PORT = 5 [static]

Definition at line 39 of file RFlex.cpp.

Referenced by RFlex::digitalIOOff(), RFlex::digitalIOOn(), RFlex::parseDigitalIOReport(), and RFlex::readPacket().

const int DIGITAL_IO_REPORT = 1 [static]

Definition at line 97 of file RFlex.cpp.

const int DIGITAL_IO_REPORT_REQUEST = 0 [static]

Definition at line 96 of file RFlex.cpp.

Referenced by RFlex::digitalIOOff(), and RFlex::digitalIOOn().

const int DIGITAL_IO_SET = 4 [static]

Definition at line 100 of file RFlex.cpp.

const int DIGITAL_IO_UPDATE = 3 [static]

Definition at line 99 of file RFlex.cpp.

const unsigned char ESC = 27 [static]

Definition at line 32 of file RFlex.cpp.

Referenced by RFlex::readData(), and RFlex::sendCommand().

const unsigned char ETX = 3 [static]

Definition at line 31 of file RFlex.cpp.

Referenced by RFlex::readData(), RFlex::readPacket(), and RFlex::sendCommand().

const unsigned int IR_PORT = 6 [static]

Definition at line 40 of file RFlex.cpp.

Referenced by RFlex::parseIRReport(), and RFlex::readPacket().

const int IR_REPORT = 1 [static]

Definition at line 103 of file RFlex.cpp.

const int IR_RUN = 0 [static]

Definition at line 102 of file RFlex.cpp.

const int JOYSTICK_GET_STATE = 0 [static]

Definition at line 86 of file RFlex.cpp.

Referenced by RFlex::joystickReport(), and RFlex::parseJoystickReport().

const unsigned int JOYSTICK_PORT = 3 [static]

Definition at line 37 of file RFlex.cpp.

Referenced by RFlex::joystickReport(), RFlex::parseJoystickReport(), and RFlex::readPacket().

const int MOTOR_AXIS_GET_LIMITS = 4 [static]

Definition at line 58 of file RFlex.cpp.

const int MOTOR_AXIS_GET_MODE = 9 [static]

Definition at line 63 of file RFlex.cpp.

const int MOTOR_AXIS_GET_MODEL = 1 [static]

Definition at line 55 of file RFlex.cpp.

const int MOTOR_AXIS_GET_PARMS = 76 [static]

Definition at line 80 of file RFlex.cpp.

const int MOTOR_AXIS_GET_POS_LIMITS = 6 [static]

Definition at line 60 of file RFlex.cpp.

const int MOTOR_AXIS_GET_PWM = 80 [static]

Definition at line 84 of file RFlex.cpp.

const int MOTOR_AXIS_GET_PWM_LIMIT = 78 [static]

Definition at line 82 of file RFlex.cpp.

const int MOTOR_AXIS_GET_SYSTEM = 0 [static]

Definition at line 54 of file RFlex.cpp.

const int MOTOR_AXIS_GET_TARGET = 2 [static]

Definition at line 56 of file RFlex.cpp.

const int MOTOR_AXIS_SET_DIR = 7 [static]

Definition at line 61 of file RFlex.cpp.

Referenced by RFlex::motorSendRotateVelocity(), RFlex::motorSendTranslateVelocity(), and RFlex::parseMotorReport().

const int MOTOR_AXIS_SET_LIMITS = 3 [static]

Definition at line 57 of file RFlex.cpp.

const int MOTOR_AXIS_SET_PARMS = 75 [static]

Definition at line 79 of file RFlex.cpp.

const int MOTOR_AXIS_SET_POS = 8 [static]

Definition at line 62 of file RFlex.cpp.

const int MOTOR_AXIS_SET_POS_LIMITS = 5 [static]

Definition at line 59 of file RFlex.cpp.

const int MOTOR_AXIS_SET_PWM = 79 [static]

Definition at line 83 of file RFlex.cpp.

const int MOTOR_AXIS_SET_PWM_LIMIT = 77 [static]

Definition at line 81 of file RFlex.cpp.

const int MOTOR_BRAKE_RELEASE = 12 [static]

Definition at line 66 of file RFlex.cpp.

Referenced by RFlex::releaseBrake().

const int MOTOR_BRAKE_SET = 11 [static]

Definition at line 65 of file RFlex.cpp.

Referenced by RFlex::setBrake().

const int MOTOR_GET_GEARING = 67 [static]

Definition at line 71 of file RFlex.cpp.

const int MOTOR_GET_NAXES = 65 [static]

Definition at line 69 of file RFlex.cpp.

const int MOTOR_MOTOR_GET_DATA = 74 [static]

Definition at line 78 of file RFlex.cpp.

const int MOTOR_MOTOR_GET_LIMITS = 73 [static]

Definition at line 77 of file RFlex.cpp.

const int MOTOR_MOTOR_GET_MODE = 69 [static]

Definition at line 73 of file RFlex.cpp.

const int MOTOR_MOTOR_GET_PARMS = 71 [static]

Definition at line 75 of file RFlex.cpp.

const int MOTOR_MOTOR_SET_LIMITS = 72 [static]

Definition at line 76 of file RFlex.cpp.

const int MOTOR_MOTOR_SET_MODE = 68 [static]

Definition at line 72 of file RFlex.cpp.

const int MOTOR_MOTOR_SET_PARMS = 70 [static]

Definition at line 74 of file RFlex.cpp.

const unsigned int MOTOR_PORT = 2 [static]

Definition at line 36 of file RFlex.cpp.

Referenced by RFlex::motorSendRotateVelocity(), RFlex::motorSendTranslateVelocity(), RFlex::odometryOff(), RFlex::odometryOn(), RFlex::parseMotorReport(), RFlex::readPacket(), RFlex::releaseBrake(), and RFlex::setBrake().

const int MOTOR_SET_DEFAULTS = 10 [static]

Definition at line 64 of file RFlex.cpp.

const int MOTOR_SET_GEARING = 66 [static]

Definition at line 70 of file RFlex.cpp.

const int MOTOR_SYSTEM_REPORT = 33 [static]

Definition at line 67 of file RFlex.cpp.

Referenced by RFlex::parseMotorReport().

const int MOTOR_SYSTEM_REPORT_REQUEST = 34 [static]

Definition at line 68 of file RFlex.cpp.

Referenced by RFlex::odometryOff(), and RFlex::odometryOn().

const unsigned char NUL = 0 [static]

Definition at line 28 of file RFlex.cpp.

Referenced by RFlex::readData().

const int PACKET_CRC_OFFSET = 4 [static]

Definition at line 25 of file RFlex.cpp.

Referenced by RFlex::readPacket(), and RFlex::sendCommand().

const int PACKET_CRC_START = 2 [static]

Definition at line 24 of file RFlex.cpp.

Referenced by RFlex::readPacket(), and RFlex::sendCommand().

const int PACKET_DATA_START_BYTE = 6 [static]

Definition at line 47 of file RFlex.cpp.

Referenced by RFlex::insertChar(), RFlex::insertLong(), RFlex::readPacket(), RFlex::sendCommand(), and RFlex::sonarOff().

const int PACKET_ID_BYTE = 3 [static]

Definition at line 44 of file RFlex.cpp.

Referenced by RFlex::sendCommand().

const int PACKET_OPCODE_BYTE = 4 [static]

Definition at line 45 of file RFlex.cpp.

Referenced by RFlex::parseJoystickReport(), RFlex::parseMotorReport(), RFlex::parseSonarReport(), RFlex::parseSystemReport(), and RFlex::sendCommand().

const int PACKET_PORT_BYTE = 2 [static]

Definition at line 43 of file RFlex.cpp.

Referenced by RFlex::parseDigitalIOReport(), RFlex::parseIRReport(), RFlex::parseJoystickReport(), RFlex::parseMotorReport(), RFlex::parseSonarReport(), RFlex::parseSystemReport(), RFlex::readPacket(), and RFlex::sendCommand().

const int PACKET_SIZE_BYTE = 5 [static]

Definition at line 46 of file RFlex.cpp.

Referenced by RFlex::readPacket(), and RFlex::sendCommand().

const int PROTOCOL_SIZE = 9 [static]

Definition at line 23 of file RFlex.cpp.

Referenced by RFlex::readPacket(), and RFlex::sendCommand().

const unsigned char SOH = 1 [static]

Definition at line 29 of file RFlex.cpp.

Referenced by RFlex::readData().

const unsigned char SONAR_CONTINUOUS_REPORT = 2 [static]

Definition at line 94 of file RFlex.cpp.

Referenced by RFlex::sonarOn().

const int SONAR_GET_UPDATE = 1 [static]

Definition at line 89 of file RFlex.cpp.

const unsigned char SONAR_OFF = 0 [static]

Definition at line 92 of file RFlex.cpp.

const unsigned int SONAR_PORT = 4 [static]

Definition at line 38 of file RFlex.cpp.

Referenced by RFlex::parseSonarReport(), RFlex::readPacket(), RFlex::sonarOff(), and RFlex::sonarOn().

const int SONAR_REPORT = 2 [static]

Definition at line 90 of file RFlex.cpp.

Referenced by RFlex::parseSonarReport().

const unsigned char SONAR_REPORT_ON_REQUEST = 1 [static]

Definition at line 93 of file RFlex.cpp.

const int SONAR_RUN = 0 [static]

Definition at line 88 of file RFlex.cpp.

Referenced by RFlex::sonarOff(), and RFlex::sonarOn().

const unsigned char STX = 2 [static]

Definition at line 30 of file RFlex.cpp.

const int SYSTEM_LCD_DUMP = 0 [static]

Definition at line 51 of file RFlex.cpp.

Referenced by RFlex::parseSystemReport(), and RFlex::systemLCDDump().

const unsigned int SYSTEM_PORT = 1 [static]

Definition at line 35 of file RFlex.cpp.

Referenced by RFlex::parseSystemReport(), RFlex::readPacket(), RFlex::systemLCDDump(), and RFlex::systemUpdate().

const int SYSTEM_STATUS = 1 [static]

Definition at line 52 of file RFlex.cpp.

Referenced by RFlex::parseSystemReport(), and RFlex::systemUpdate().

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