NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Classes | Public Member Functions | Static Public Attributes | Protected Types | Protected Member Functions | Static Protected Attributes | List of all members
perching_arm::PerchingArm Class Reference

#include <perching_arm.h>

Classes

struct  __attribute__
 

Public Member Functions

 PerchingArm ()
 
PerchingArmResult Connect (std::string const &port, uint32_t baud, PerchingArmSleepMsCallback cb_sleep_ms, PerchingArmRawDataCallback cb_raw_data)
 
void Disconnect ()
 
bool ResultToString (PerchingArmResult result, std::string &msg)
 
PerchingArmResult CalibrateGripper ()
 
PerchingArmResult SetGripperPosition (int16_t perc)
 
PerchingArmResult SetProximalEnabled ()
 
PerchingArmResult SetProximalDisabled ()
 
PerchingArmResult SetProximalVelocity (int16_t rpm)
 
PerchingArmResult SetProximalPosition (int16_t degrees)
 
PerchingArmResult SetDistalEnabled ()
 
PerchingArmResult SetDistalDisabled ()
 
PerchingArmResult SetDistalVelocity (int16_t rpm)
 
PerchingArmResult SetDistalPosition (int16_t degrees)
 
PerchingArmResult EnableGripper ()
 
PerchingArmResult DisableGripper ()
 
PerchingArmResult OpenGripper ()
 
PerchingArmResult CloseGripper ()
 
PerchingArmResult SoftReset ()
 
PerchingArmResult HardReset ()
 
PerchingArmResult SendCommand (uint8_t target, int16_t address, int16_t value)
 
void ProcessPacket (const uint8_t *buffer, size_t length, double curr_time)
 

Static Public Attributes

static constexpr int16_t PROX_POS_MIN = -120
 
static constexpr int16_t PROX_POS_MAX = 90
 
static constexpr int16_t PROX_VEL_MIN = 0
 
static constexpr int16_t PROX_VEL_MAX = 20
 
static constexpr int16_t DIST_POS_MIN = -90
 
static constexpr int16_t DIST_POS_MAX = 90
 
static constexpr int16_t DIST_VEL_MIN = 0
 
static constexpr int16_t DIST_VEL_MAX = 20
 
static constexpr int16_t GRIP_POS_MIN = -100
 
static constexpr int16_t GRIP_POS_MAX = 0
 
static constexpr int16_t GRIP_CALIBRATE = -100
 
static constexpr int16_t GRIP_L_P_MIN = 20
 
static constexpr int16_t GRIP_L_P_MAX = 40
 
static constexpr int16_t GRIP_L_D_MIN = -70
 
static constexpr int16_t GRIP_L_D_MAX = -40
 
static constexpr int16_t GRIP_R_P_MIN = -20
 
static constexpr int16_t GRIP_R_P_MAX = -40
 
static constexpr int16_t GRIP_R_D_MIN = 70
 
static constexpr int16_t GRIP_R_D_MAX = 40
 
static constexpr int16_t STOW_PROX = 90
 
static constexpr int16_t STOW_DIST = 0
 
static constexpr int16_t DEPLOY_PROX = -90
 
static constexpr int16_t DEPLOY_DIST = 0
 
static constexpr int16_t TILT_MIN = -120
 
static constexpr int16_t TILT_MAX = 0
 
static constexpr int16_t PAN_MIN = -90
 
static constexpr int16_t PAN_MAX = 90
 
static constexpr double K_POSITION_DEG = 0.088
 
static constexpr double K_VELOCITY_RPM = 0.229
 
static constexpr double K_LOAD_GRIPPER_MA = 3.3 / (1024.0 * 0.525)
 
static constexpr double K_LOAD_JOINT_MA = 2.690
 
static constexpr double K_CURRENT_5V = 3.3 / (1024.0)
 
static constexpr double K_CURRENT_11V = 3.3 / (1024.0 * 0.75)
 
static constexpr double K_TEMPERATURE_DEG = 1.0 / 100.0
 
static constexpr double K_LOOP_TIME_MS = 1.0
 
static constexpr double K_MOTOR_VOLTAGE = 11.0
 

Protected Types

enum  Protocol {
  PROTOCOL_WF_HEADER_1, PROTOCOL_WF_HEADER_2, PROTOCOL_WF_LENGTH, PROTOCOL_WF_DATA,
  PROTOCOL_WF_CHECKSUM
}
 
enum  {
  HOST_ARM_TELEMETRY_NULL = 0, HOST_ARM_TELEMETRY_DC_GRIPPER_STATE = 1, HOST_ARM_TELEMETRY_SERVO_JOINT_STATE = 2, HOST_ARM_TELEMETRY_SERVO_JOINT_STATUS = 3,
  HOST_ARM_TELEMETRY_ACK = 62, HOST_ARM_TELEMETRY_PONG = 63, HOST_ARM_TELEMETRY_BOARD_STATE = 64, HOST_ARM_TELEMETRY_BOARD_INFO = 65,
  HOST_ARM_TELEMETRY_LOG_MSG = 126, HOST_ARM_TELEMETRY_ERROR_MSG = 127, HOST_ARM_TELEMETRY_HOST_STATS = 140, HOST_ARM_TELEMETRY_JOINT_STATS = 141
}
 
enum  {
  HOST_ARM_BASIC_CMD_NULL = 0, HOST_ARM_BASIC_CMD_TILT_JOINT = 3, HOST_ARM_BASIC_CMD_PAN_JOINT = 4, HOST_ARM_BASIC_CMD_ALL_JOINTS = 6,
  HOST_ARM_BASIC_CMD_RAW_MOTOR = 7, HOST_ARM_BASIC_CMD_DC_GRIPPER = 8, HOST_ARM_BASIC_CMD_POWER = 10, HOST_ARM_BASIC_CMD_PING = 63,
  HOST_ARM_BASIC_CMD_DUMP_HOST_STATS = 90, HOST_ARM_BASIC_CMD_DUMP_JOINT_STATS = 91, HOST_ARM_BASIC_CMD_RESET = 100, HOST_ARM_BASIC_CMD_DUMP_LOG = 126,
  HOST_ARM_BASIC_CMD_MAX = 127
}
 
enum  {
  HOST_ARM_DC_GRIPPER_FLAG_MOTOR_ENABLED = 0b00000001, HOST_ARM_DC_GRIPPER_FLAG_MOTOR_HW_STATUS = 0b00000010, HOST_ARM_DC_GRIPPER_FLAG_CALIBRATING = 0b00000100, HOST_ARM_DC_GRIPPER_FLAG_CALIBRATED = 0b00001000,
  HOST_ARM_DC_GRIPPER_FLAG_OVERLOAD = 0b00010000
}
 
enum  { HOST_ARM_JOINT_BACKDRIVE_STATUS_NONE = 0, HOST_ARM_JOINT_BACKDRIVE_STATUS_DETECTED = 1, HOST_ARM_JOINT_BACKDRIVE_STATUS_ENDING = 2 }
 
enum  {
  HOST_ARM_SERVO_ERROR_FLAG_OVERLOAD = 0b00100000, HOST_ARM_SERVO_ERROR_FLAG_ELEC_SHOCK = 0b00010000, HOST_ARM_SERVO_ERROR_FLAG_ENCODER_ERR = 0b00001000, HOST_ARM_SERVO_ERROR_FLAG_OVERTEMP = 0b00000100,
  HOST_ARM_SERVO_ERROR_FLAG_VOLTAGE_ERR = 0b00000001
}
 
enum  {
  HOST_ARM_ACK_STATUS_NULL = -128, HOST_ARM_ACK_STATUS_ERROR = -127, HOST_ARM_ACK_STATUS_BUSY = -3, HOST_ARM_ACK_STATUS_INVALID_ARG = -2,
  HOST_ARM_ACK_STATUS_UNIMPLEMENTED = -1, HOST_ARM_ACK_STATUS_PENDING = 0, HOST_ARM_ACK_STATUS_CONFIRMED, HOST_ARM_ACK_STATUS_DONE = 2
}
 
enum  {
  HOST_ARM_RESET_REASON_TRAP = 0b1000000000000000, HOST_ARM_RESET_REASON_IOP = 0b0100000000000000, HOST_ARM_RESET_REASON_CM = 0b0000001000000000, HOST_ARM_RESET_REASON_EXT = 0b0000000010000000,
  HOST_ARM_RESET_REASON_SW = 0b0000000001000000, HOST_ARM_RESET_REASON_WD = 0b0000000000010000, HOST_ARM_RESET_REASON_BRNOUT = 0b0000000000000010, HOST_ARM_RESET_REASON_PWRON = 0b0000000000000001
}
 
enum  { HOST_ARM_BOARD_FLAG_HAS_LOGMSG = 0b00000001 }
 

Protected Member Functions

void Read (const uint8_t *buffer, size_t len)
 
void Timeout (void)
 
void Shutdown (void)
 
void Process (const uint8_t *buf)
 
void FiniteStateMachine (uint8_t const &c)
 
uint8_t Checksum (const uint8_t *buf, size_t len)
 
void ProcessGripperStateTelemetry (const host_arm_dc_gripper_state_telemetry_t *packet)
 
void ProcessServoJointStateTelemetry (const host_arm_servo_joint_state_telemetry_t *packet)
 
void ProcessServoJointStatusTelemetry (const host_arm_servo_joint_status_telemetry_t *packet)
 
void ProcessBoardStateTelemetry (const host_arm_board_state_telemetry_t *packet)
 
void ProcessBoardInfoTelemetry (const host_arm_board_info_telemetry_t *packet)
 
void ProcessErrorMsgTelemetry (const host_arm_error_msg_telemetry_t *packet)
 

Static Protected Attributes

static constexpr uint8_t PROTOCOL_HEADER_1 = 0xFF
 
static constexpr uint8_t PROTOCOL_HEADER_2 = 0xFE
 
static constexpr int16_t TARGET_PROXIMAL = 0
 
static constexpr int16_t TARGET_DISTAL = 1
 
static constexpr int16_t TARGET_POWER = 2
 
static constexpr int16_t TARGET_TORQUE = 3
 
static constexpr int16_t TARGET_GRIPPER = 4
 
static constexpr int16_t TARGET_RESET = 10
 
static constexpr int16_t ADDRESS_POSITION = 1
 
static constexpr int16_t ADDRESS_VELOCITY = 2
 
static constexpr int16_t ADDRESS_ENABLE = 3
 
static constexpr int16_t ADDRESS_DISABLE = 4
 
static constexpr int16_t ADDRESS_RESET = 10
 
static constexpr int16_t ADDRESS_TORQUE_LIMIT = 34
 
static constexpr int16_t ADDRESS_GRIPPER_CALIBRATE = 51
 
static constexpr int16_t ADDRESS_GRIPPER_OPEN = 52
 
static constexpr int16_t ADDRESS_GRIPPER_CLOSE = 53
 
static constexpr int16_t ADDRESS_GRIPPER_SET = 54
 
static constexpr int16_t ADDRESS_GRIPPER_RESET = 55
 
static constexpr int16_t ADDRESS_GRIPPER_ENABLE = 101
 
static constexpr int16_t ADDRESS_GRIPPER_DISABLE = 100
 
static constexpr int16_t VALUE_POWER_DISABLE = 0
 
static constexpr int16_t VALUE_POWER_ENABLE = 1
 

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
protected
Enumerator
HOST_ARM_TELEMETRY_NULL 
HOST_ARM_TELEMETRY_DC_GRIPPER_STATE 
HOST_ARM_TELEMETRY_SERVO_JOINT_STATE 
HOST_ARM_TELEMETRY_SERVO_JOINT_STATUS 
HOST_ARM_TELEMETRY_ACK 
HOST_ARM_TELEMETRY_PONG 
HOST_ARM_TELEMETRY_BOARD_STATE 
HOST_ARM_TELEMETRY_BOARD_INFO 
HOST_ARM_TELEMETRY_LOG_MSG 
HOST_ARM_TELEMETRY_ERROR_MSG 
HOST_ARM_TELEMETRY_HOST_STATS 
HOST_ARM_TELEMETRY_JOINT_STATS 

◆ anonymous enum

anonymous enum
protected
Enumerator
HOST_ARM_BASIC_CMD_NULL 
HOST_ARM_BASIC_CMD_TILT_JOINT 
HOST_ARM_BASIC_CMD_PAN_JOINT 
HOST_ARM_BASIC_CMD_ALL_JOINTS 
HOST_ARM_BASIC_CMD_RAW_MOTOR 
HOST_ARM_BASIC_CMD_DC_GRIPPER 
HOST_ARM_BASIC_CMD_POWER 
HOST_ARM_BASIC_CMD_PING 
HOST_ARM_BASIC_CMD_DUMP_HOST_STATS 
HOST_ARM_BASIC_CMD_DUMP_JOINT_STATS 
HOST_ARM_BASIC_CMD_RESET 
HOST_ARM_BASIC_CMD_DUMP_LOG 
HOST_ARM_BASIC_CMD_MAX 

◆ anonymous enum

anonymous enum
protected
Enumerator
HOST_ARM_DC_GRIPPER_FLAG_MOTOR_ENABLED 
HOST_ARM_DC_GRIPPER_FLAG_MOTOR_HW_STATUS 
HOST_ARM_DC_GRIPPER_FLAG_CALIBRATING 
HOST_ARM_DC_GRIPPER_FLAG_CALIBRATED 
HOST_ARM_DC_GRIPPER_FLAG_OVERLOAD 

◆ anonymous enum

anonymous enum
protected
Enumerator
HOST_ARM_JOINT_BACKDRIVE_STATUS_NONE 
HOST_ARM_JOINT_BACKDRIVE_STATUS_DETECTED 
HOST_ARM_JOINT_BACKDRIVE_STATUS_ENDING 

◆ anonymous enum

anonymous enum
protected
Enumerator
HOST_ARM_SERVO_ERROR_FLAG_OVERLOAD 
HOST_ARM_SERVO_ERROR_FLAG_ELEC_SHOCK 
HOST_ARM_SERVO_ERROR_FLAG_ENCODER_ERR 
HOST_ARM_SERVO_ERROR_FLAG_OVERTEMP 
HOST_ARM_SERVO_ERROR_FLAG_VOLTAGE_ERR 

◆ anonymous enum

anonymous enum
protected
Enumerator
HOST_ARM_ACK_STATUS_NULL 
HOST_ARM_ACK_STATUS_ERROR 
HOST_ARM_ACK_STATUS_BUSY 
HOST_ARM_ACK_STATUS_INVALID_ARG 
HOST_ARM_ACK_STATUS_UNIMPLEMENTED 
HOST_ARM_ACK_STATUS_PENDING 
HOST_ARM_ACK_STATUS_CONFIRMED 
HOST_ARM_ACK_STATUS_DONE 

◆ anonymous enum

anonymous enum
protected
Enumerator
HOST_ARM_RESET_REASON_TRAP 
HOST_ARM_RESET_REASON_IOP 
HOST_ARM_RESET_REASON_CM 
HOST_ARM_RESET_REASON_EXT 
HOST_ARM_RESET_REASON_SW 
HOST_ARM_RESET_REASON_WD 
HOST_ARM_RESET_REASON_BRNOUT 
HOST_ARM_RESET_REASON_PWRON 

◆ anonymous enum

anonymous enum
protected
Enumerator
HOST_ARM_BOARD_FLAG_HAS_LOGMSG 

◆ Protocol

enum perching_arm::PerchingArm::Protocol
protected
Enumerator
PROTOCOL_WF_HEADER_1 
PROTOCOL_WF_HEADER_2 
PROTOCOL_WF_LENGTH 
PROTOCOL_WF_DATA 
PROTOCOL_WF_CHECKSUM 

Constructor & Destructor Documentation

◆ PerchingArm()

perching_arm::PerchingArm::PerchingArm ( )

Member Function Documentation

◆ CalibrateGripper()

PerchingArmResult perching_arm::PerchingArm::CalibrateGripper ( )

◆ Checksum()

uint8_t perching_arm::PerchingArm::Checksum ( const uint8_t *  buf,
size_t  len 
)
protected

◆ CloseGripper()

PerchingArmResult perching_arm::PerchingArm::CloseGripper ( )

◆ Connect()

PerchingArmResult perching_arm::PerchingArm::Connect ( std::string const &  port,
uint32_t  baud,
PerchingArmSleepMsCallback  cb_sleep_ms,
PerchingArmRawDataCallback  cb_raw_data 
)

◆ DisableGripper()

PerchingArmResult perching_arm::PerchingArm::DisableGripper ( )

◆ Disconnect()

void perching_arm::PerchingArm::Disconnect ( )

◆ EnableGripper()

PerchingArmResult perching_arm::PerchingArm::EnableGripper ( )

◆ FiniteStateMachine()

void perching_arm::PerchingArm::FiniteStateMachine ( uint8_t const &  c)
protected

◆ HardReset()

PerchingArmResult perching_arm::PerchingArm::HardReset ( )

◆ OpenGripper()

PerchingArmResult perching_arm::PerchingArm::OpenGripper ( )

◆ Process()

void perching_arm::PerchingArm::Process ( const uint8_t *  buf)
protected

◆ ProcessBoardInfoTelemetry()

void perching_arm::PerchingArm::ProcessBoardInfoTelemetry ( const host_arm_board_info_telemetry_t *  packet)
protected

◆ ProcessBoardStateTelemetry()

void perching_arm::PerchingArm::ProcessBoardStateTelemetry ( const host_arm_board_state_telemetry_t *  packet)
protected

◆ ProcessErrorMsgTelemetry()

void perching_arm::PerchingArm::ProcessErrorMsgTelemetry ( const host_arm_error_msg_telemetry_t *  packet)
protected

◆ ProcessGripperStateTelemetry()

void perching_arm::PerchingArm::ProcessGripperStateTelemetry ( const host_arm_dc_gripper_state_telemetry_t *  packet)
protected

◆ ProcessPacket()

void perching_arm::PerchingArm::ProcessPacket ( const uint8_t *  buffer,
size_t  length,
double  curr_time 
)

◆ ProcessServoJointStateTelemetry()

void perching_arm::PerchingArm::ProcessServoJointStateTelemetry ( const host_arm_servo_joint_state_telemetry_t *  packet)
protected

◆ ProcessServoJointStatusTelemetry()

void perching_arm::PerchingArm::ProcessServoJointStatusTelemetry ( const host_arm_servo_joint_status_telemetry_t *  packet)
protected

◆ Read()

void perching_arm::PerchingArm::Read ( const uint8_t *  buffer,
size_t  len 
)
protected

◆ ResultToString()

bool perching_arm::PerchingArm::ResultToString ( PerchingArmResult  result,
std::string &  msg 
)

◆ SendCommand()

PerchingArmResult perching_arm::PerchingArm::SendCommand ( uint8_t  target,
int16_t  address,
int16_t  value 
)

◆ SetDistalDisabled()

PerchingArmResult perching_arm::PerchingArm::SetDistalDisabled ( )

◆ SetDistalEnabled()

PerchingArmResult perching_arm::PerchingArm::SetDistalEnabled ( )

◆ SetDistalPosition()

PerchingArmResult perching_arm::PerchingArm::SetDistalPosition ( int16_t  degrees)

◆ SetDistalVelocity()

PerchingArmResult perching_arm::PerchingArm::SetDistalVelocity ( int16_t  rpm)

◆ SetGripperPosition()

PerchingArmResult perching_arm::PerchingArm::SetGripperPosition ( int16_t  perc)

◆ SetProximalDisabled()

PerchingArmResult perching_arm::PerchingArm::SetProximalDisabled ( )

◆ SetProximalEnabled()

PerchingArmResult perching_arm::PerchingArm::SetProximalEnabled ( )

◆ SetProximalPosition()

PerchingArmResult perching_arm::PerchingArm::SetProximalPosition ( int16_t  degrees)

◆ SetProximalVelocity()

PerchingArmResult perching_arm::PerchingArm::SetProximalVelocity ( int16_t  rpm)

◆ Shutdown()

void perching_arm::PerchingArm::Shutdown ( void  )
protected

◆ SoftReset()

PerchingArmResult perching_arm::PerchingArm::SoftReset ( )

◆ Timeout()

void perching_arm::PerchingArm::Timeout ( void  )
protected

Member Data Documentation

◆ ADDRESS_DISABLE

constexpr int16_t perching_arm::PerchingArm::ADDRESS_DISABLE = 4
staticconstexprprotected

◆ ADDRESS_ENABLE

constexpr int16_t perching_arm::PerchingArm::ADDRESS_ENABLE = 3
staticconstexprprotected

◆ ADDRESS_GRIPPER_CALIBRATE

constexpr int16_t perching_arm::PerchingArm::ADDRESS_GRIPPER_CALIBRATE = 51
staticconstexprprotected

◆ ADDRESS_GRIPPER_CLOSE

constexpr int16_t perching_arm::PerchingArm::ADDRESS_GRIPPER_CLOSE = 53
staticconstexprprotected

◆ ADDRESS_GRIPPER_DISABLE

constexpr int16_t perching_arm::PerchingArm::ADDRESS_GRIPPER_DISABLE = 100
staticconstexprprotected

◆ ADDRESS_GRIPPER_ENABLE

constexpr int16_t perching_arm::PerchingArm::ADDRESS_GRIPPER_ENABLE = 101
staticconstexprprotected

◆ ADDRESS_GRIPPER_OPEN

constexpr int16_t perching_arm::PerchingArm::ADDRESS_GRIPPER_OPEN = 52
staticconstexprprotected

◆ ADDRESS_GRIPPER_RESET

constexpr int16_t perching_arm::PerchingArm::ADDRESS_GRIPPER_RESET = 55
staticconstexprprotected

◆ ADDRESS_GRIPPER_SET

constexpr int16_t perching_arm::PerchingArm::ADDRESS_GRIPPER_SET = 54
staticconstexprprotected

◆ ADDRESS_POSITION

constexpr int16_t perching_arm::PerchingArm::ADDRESS_POSITION = 1
staticconstexprprotected

◆ ADDRESS_RESET

constexpr int16_t perching_arm::PerchingArm::ADDRESS_RESET = 10
staticconstexprprotected

◆ ADDRESS_TORQUE_LIMIT

constexpr int16_t perching_arm::PerchingArm::ADDRESS_TORQUE_LIMIT = 34
staticconstexprprotected

◆ ADDRESS_VELOCITY

constexpr int16_t perching_arm::PerchingArm::ADDRESS_VELOCITY = 2
staticconstexprprotected

◆ DEPLOY_DIST

constexpr int16_t perching_arm::PerchingArm::DEPLOY_DIST = 0
staticconstexpr

◆ DEPLOY_PROX

constexpr int16_t perching_arm::PerchingArm::DEPLOY_PROX = -90
staticconstexpr

◆ DIST_POS_MAX

constexpr int16_t perching_arm::PerchingArm::DIST_POS_MAX = 90
staticconstexpr

◆ DIST_POS_MIN

constexpr int16_t perching_arm::PerchingArm::DIST_POS_MIN = -90
staticconstexpr

◆ DIST_VEL_MAX

constexpr int16_t perching_arm::PerchingArm::DIST_VEL_MAX = 20
staticconstexpr

◆ DIST_VEL_MIN

constexpr int16_t perching_arm::PerchingArm::DIST_VEL_MIN = 0
staticconstexpr

◆ GRIP_CALIBRATE

constexpr int16_t perching_arm::PerchingArm::GRIP_CALIBRATE = -100
staticconstexpr

◆ GRIP_L_D_MAX

constexpr int16_t perching_arm::PerchingArm::GRIP_L_D_MAX = -40
staticconstexpr

◆ GRIP_L_D_MIN

constexpr int16_t perching_arm::PerchingArm::GRIP_L_D_MIN = -70
staticconstexpr

◆ GRIP_L_P_MAX

constexpr int16_t perching_arm::PerchingArm::GRIP_L_P_MAX = 40
staticconstexpr

◆ GRIP_L_P_MIN

constexpr int16_t perching_arm::PerchingArm::GRIP_L_P_MIN = 20
staticconstexpr

◆ GRIP_POS_MAX

constexpr int16_t perching_arm::PerchingArm::GRIP_POS_MAX = 0
staticconstexpr

◆ GRIP_POS_MIN

constexpr int16_t perching_arm::PerchingArm::GRIP_POS_MIN = -100
staticconstexpr

◆ GRIP_R_D_MAX

constexpr int16_t perching_arm::PerchingArm::GRIP_R_D_MAX = 40
staticconstexpr

◆ GRIP_R_D_MIN

constexpr int16_t perching_arm::PerchingArm::GRIP_R_D_MIN = 70
staticconstexpr

◆ GRIP_R_P_MAX

constexpr int16_t perching_arm::PerchingArm::GRIP_R_P_MAX = -40
staticconstexpr

◆ GRIP_R_P_MIN

constexpr int16_t perching_arm::PerchingArm::GRIP_R_P_MIN = -20
staticconstexpr

◆ K_CURRENT_11V

constexpr double perching_arm::PerchingArm::K_CURRENT_11V = 3.3 / (1024.0 * 0.75)
staticconstexpr

◆ K_CURRENT_5V

constexpr double perching_arm::PerchingArm::K_CURRENT_5V = 3.3 / (1024.0)
staticconstexpr

◆ K_LOAD_GRIPPER_MA

constexpr double perching_arm::PerchingArm::K_LOAD_GRIPPER_MA = 3.3 / (1024.0 * 0.525)
staticconstexpr

◆ K_LOAD_JOINT_MA

constexpr double perching_arm::PerchingArm::K_LOAD_JOINT_MA = 2.690
staticconstexpr

◆ K_LOOP_TIME_MS

constexpr double perching_arm::PerchingArm::K_LOOP_TIME_MS = 1.0
staticconstexpr

◆ K_MOTOR_VOLTAGE

constexpr double perching_arm::PerchingArm::K_MOTOR_VOLTAGE = 11.0
staticconstexpr

◆ K_POSITION_DEG

constexpr double perching_arm::PerchingArm::K_POSITION_DEG = 0.088
staticconstexpr

◆ K_TEMPERATURE_DEG

constexpr double perching_arm::PerchingArm::K_TEMPERATURE_DEG = 1.0 / 100.0
staticconstexpr

◆ K_VELOCITY_RPM

constexpr double perching_arm::PerchingArm::K_VELOCITY_RPM = 0.229
staticconstexpr

◆ PAN_MAX

constexpr int16_t perching_arm::PerchingArm::PAN_MAX = 90
staticconstexpr

◆ PAN_MIN

constexpr int16_t perching_arm::PerchingArm::PAN_MIN = -90
staticconstexpr

◆ PROTOCOL_HEADER_1

constexpr uint8_t perching_arm::PerchingArm::PROTOCOL_HEADER_1 = 0xFF
staticconstexprprotected

◆ PROTOCOL_HEADER_2

constexpr uint8_t perching_arm::PerchingArm::PROTOCOL_HEADER_2 = 0xFE
staticconstexprprotected

◆ PROX_POS_MAX

constexpr int16_t perching_arm::PerchingArm::PROX_POS_MAX = 90
staticconstexpr

◆ PROX_POS_MIN

constexpr int16_t perching_arm::PerchingArm::PROX_POS_MIN = -120
staticconstexpr

◆ PROX_VEL_MAX

constexpr int16_t perching_arm::PerchingArm::PROX_VEL_MAX = 20
staticconstexpr

◆ PROX_VEL_MIN

constexpr int16_t perching_arm::PerchingArm::PROX_VEL_MIN = 0
staticconstexpr

◆ STOW_DIST

constexpr int16_t perching_arm::PerchingArm::STOW_DIST = 0
staticconstexpr

◆ STOW_PROX

constexpr int16_t perching_arm::PerchingArm::STOW_PROX = 90
staticconstexpr

◆ TARGET_DISTAL

constexpr int16_t perching_arm::PerchingArm::TARGET_DISTAL = 1
staticconstexprprotected

◆ TARGET_GRIPPER

constexpr int16_t perching_arm::PerchingArm::TARGET_GRIPPER = 4
staticconstexprprotected

◆ TARGET_POWER

constexpr int16_t perching_arm::PerchingArm::TARGET_POWER = 2
staticconstexprprotected

◆ TARGET_PROXIMAL

constexpr int16_t perching_arm::PerchingArm::TARGET_PROXIMAL = 0
staticconstexprprotected

◆ TARGET_RESET

constexpr int16_t perching_arm::PerchingArm::TARGET_RESET = 10
staticconstexprprotected

◆ TARGET_TORQUE

constexpr int16_t perching_arm::PerchingArm::TARGET_TORQUE = 3
staticconstexprprotected

◆ TILT_MAX

constexpr int16_t perching_arm::PerchingArm::TILT_MAX = 0
staticconstexpr

◆ TILT_MIN

constexpr int16_t perching_arm::PerchingArm::TILT_MIN = -120
staticconstexpr

◆ VALUE_POWER_DISABLE

constexpr int16_t perching_arm::PerchingArm::VALUE_POWER_DISABLE = 0
staticconstexprprotected

◆ VALUE_POWER_ENABLE

constexpr int16_t perching_arm::PerchingArm::VALUE_POWER_ENABLE = 1
staticconstexprprotected
The documentation for this class was generated from the following files: