Hekateros Optical Limits

Classes
struct	hekateros::HekOpticalLimit_T
	Optical limit switch. More...

Functions
static byte_t	hekateros::getDarkOpticalLimits (byte_t byBits, byte_t byMask)
	Test if any of the optical limits have been triggered (occluded). More...
static byte_t	hekateros::getLitOpticalLimits (byte_t byBits, byte_t byMask)
	Test if any of the optical limits are lit (not occluded). More...

Variables
static const byte_t	hekateros::HekIOExpI2CAddr = 0x20
	i2c 7-bit address
static const byte_t	hekateros::HekIOExpCmdInput0 = 0
	read port 0 command
static const byte_t	hekateros::HekIOExpCmdInput1 = 1
	read port 1 command
static const byte_t	hekateros::HekIOExpCmdOutput0 = 2
	write port 0 command
static const byte_t	hekateros::HekIOExpCmdOutput1 = 3
	write port 1 command
static const byte_t	hekateros::HekIOExpCmdPolarity0 = 4
	polarity inversion port 0
static const byte_t	hekateros::HekIOExpCmdPolarity1 = 5
	polarity inversion port 1
static const byte_t	hekateros::HekIOExpCmdConfig0 = 6
	configuration port 0 cmd
static const byte_t	hekateros::HekIOExpCmdConfig1 = 7
	configuration port 1 cmd
static const byte_t	hekateros::HekIOExpUnassigned = 0
	unassigned port bit
static const byte_t	hekateros::HekIOExpDark = 0
	optic switch blocked
static const byte_t	hekateros::HekIOExpLight = 0xff
	optical switch is lit
static const byte_t	hekateros::HekIOExpConstPolarity0 = 0x00
	port 0 not inverted
static const byte_t	hekateros::HekIOExpConstConfig0 = 0xff
	port 0 all input
static const byte_t	hekateros::HekIOExpPort0Base0 = 0x01
	base 0 ° limit
static const byte_t	hekateros::HekIOExpPort0Base180 = 0x02
	base 180 ° lim.
static const byte_t	hekateros::HekIOExpPort0Shoulder = 0x04
	shoulder limit
static const byte_t	hekateros::HekIOExpPort0Elbow = 0x08
	elbow limit
static const byte_t	hekateros::HekIOExpPort0WristPitch = 0x10
	wrist pitch limit
static const byte_t	hekateros::HekIOExpPort0WristRot0 = 0x20
	wrist rot 0 °
static const byte_t	hekateros::HekIOExpPort0Rsrv1 = 0x40
	reserved
static const byte_t	hekateros::HekIOExpPort0Rsrv2 = 0x80
	reserved
static const byte_t	hekateros::HekIOExpPort1EEUser1 = 0x01
	user defined 1
static const byte_t	hekateros::HekIOExpPort1EEUser2 = 0x02
	user defined 2
static const byte_t	hekateros::HekIOExpPort1Rsrv1 = 0x04
	reserved
static const byte_t	hekateros::HekIOExpPort1Rsrv2 = 0x08
	reserved
static const byte_t	hekateros::HekIOExpPort1Rsrv3 = 0x10
	reserved
static const byte_t	hekateros::HekIOExpPort1Rsrv4 = 0x20
	reserved
static const byte_t	hekateros::HekIOExpPort1Rsrv5 = 0x40
	reserved
static const byte_t	hekateros::HekIOExpPort1Rsrv6 = 0x80
	reserved
static const int	hekateros::HekOptLimitMaxPerJoint = 2
	max limits/joint
static const int	hekateros::HekOptLimitMaxEdges = 2
	max edges/limit

Detailed Description

All optical joint limits are feed into an I²C I/O expander. In addition two input/ouput user-defined values are available at the end effector tool zero point.

Function Documentation

static byte_t hekateros::getDarkOpticalLimits ( byte_t  byBits, byte_t  byMask  )

static

Test if any of the optical limits have been triggered (occluded).

Parameters

byBits	I/O expander mapped optical limit switches.
byMask	Mask of limits to check.

Returns

Returns bit map where 1 at a given mapped position indicates the optical limit has been triggered, 0 otherwise.

Definition at line 194 of file hekOptical.h.

Referenced by hekateros::HekCalibStretch::calibrateJointByLimits(), hekateros::HekCalibStretch::calibrateJointTopDeadCenter(), hekateros::HekCalibStretch::fineTuneLimit(), and hekateros::HekCalib::moveToDark().

  {
    //fprintf(stderr, "dhp: dark: raw bits, mask = %02x, %02x\n", byBits, byMask);
    return ~byBits & byMask;
  }

static byte_t hekateros::getLitOpticalLimits ( byte_t  byBits, byte_t  byMask  )

static

Test if any of the optical limits are lit (not occluded).

Parameters

byBits	I/O expander mapped optical limit switches.
byMask	Mask of limits to check.

Returns

Returns bit map where 1 at a given mapped position indicates the optical limit is lit, 0 otherwise.

Definition at line 209 of file hekOptical.h.

Referenced by hekateros::HekCalibStretch::calibrateJointByLimits(), hekateros::HekCalibStretch::fineTuneLimit(), hekateros::HekCalibStretch::fineTuneTDC(), and hekateros::HekCalib::moveToLight().

  {
    //fprintf(stderr, "dhp: lit: raw bits, mask = %02x, %02x\n", byBits, byMask);
    return byBits & byMask;
  }