60 #ifndef _ROBOT_PARAMS_H
61 #define _ROBOT_PARAMS_H
67 #define PLAYER_NUM_ROBOT_TYPES 29
70 #define MOTOR_DEF_MAX_SPEED 0.5
71 #define MOTOR_DEF_MAX_TURNSPEED DTOR(100)
78 #define P2OS_CYCLETIME_USEC 200000
82 #define P2OS_NOMINAL_VOLTAGE 12.0
191 #define STATUSSTOPPED 0x32
192 #define STATUSMOVING 0x33
195 #define SERAUX2 0xB8 // Added in AmigOS 1.3
196 #define GYROPAC 0x98 // Added AROS 1.8
197 #define ARMPAC 160 // ARMpac
198 #define ARMINFOPAC 161 // ARMINFOpac
202 #define ARGINT 0x3B // Positive int (LSB, MSB)
203 #define ARGNINT 0x1B // Negative int (LSB, MSB)
204 #define ARGSTR 0x2B // String (Note: 1st byte is length!!)
220 #define CMUCAM_IMAGE_WIDTH 80
221 #define CMUCAM_IMAGE_HEIGHT 143
222 #define CMUCAM_MESSAGE_LEN 10
225 #define DEFAULT_P2OS_PORT "/dev/ttyS0"
226 #define DEFAULT_P2OS_TCP_REMOTE_HOST "localhost"
227 #define DEFAULT_P2OS_TCP_REMOTE_PORT 8101
230 #define DTOR(a) M_PI * a / 180.0
231 #define RTOD(a) 180.0 * a / M_PI
most-sig byte is port number, least-sig byte is pulse width
request iopackets from p2os
int, set rotational velocity, duplicate of RVEL (deg/sec)
int, translational move (mm)
int, turn relative to current heading (degrees)
int, someday will set the vel
int, turn to absolute heading 0-359 (degrees)
int RequestEncoderPackets
RobotParams_t PlayerRobotParams[]
int, request configuration packet
int, sets the maximum rotational velocity (deg/sec)
p2 gripper packet request
int, commands for calibrating compass, see compass manual
none, emergency stop, overrides decel
int, sets the lateral velocity (mm)
TCM2 module commands, see tcm2 manual for details.
void initialize_robot_params(void)
int, select the port given as argument
int, colbert relative heading setpoint (degrees)
int, sets the digout lines