Inheritance diagram for hekateros:

Public Types
enum	HekProdSize { HekProdSizeUnknown = 0, HekProdSizeStd = 1, HekProdSizeShort = 2, HekProdSizeLong = 3, HekProdSizeMini = 4, HekProdSizeNumOf = 5 }
	*Hekateros* product size codes. More...

enum	HekTriState { HekTriStateUnknown = -1, HekTriStateFalse = 0, HekTriStateOff = 0, HekTriStateDisabled = 0, HekTriStateLow = 0, HekTriStateOpen = 0, HekTriStateDark = 0, HekTriStateTrue = 1, HekTriStateOn = 1, HekTriStateEnabled = 1, HekTriStateHigh = 1, HekTriStateClosed = 1, HekTriStateLight = 1 }
	*Hekateros* tri-state type. More...

enum	HekRobotMode { HekRobotModeUnknown = -1, HekRobotModeManual = 1, HekRobotModeAuto = 2 }
	*Hekateros* mode of operation. More...

enum	HekOpState { HekOpStateUncalibrated = 0, HekOpStateCalibrating = 1, HekOpStateCalibrated = 2 }
	Robot or joint operational states. More...

enum	HekAsyncTaskState { HekAsyncTaskStateIdle = 0, HekAsyncTaskStateWorking = 1 }
	Asynchronous task state. More...

enum	HekNorm { HekNormL1 = 1, HekNormL2 = 2, HekNormLinf = 3 }
	Length/Distance Norm. More...

enum	HekJointType { HekJointTypeUnknown = 0, HekJointTypeFixed, HekJointTypeRevolute, HekJointTypeContinuous, HekJointTypeRevMimic, HekJointTypeNumOf = 4 }
	Supported joint types. More...

enum	HekLimitType { HekLimitTypeUnknown = 0x00, HekLimitTypeNone = 0x01, HekLimitTypePhys = 0x02, HekLimitTypeElec = 0x04, HekLimitTypeElecTDC = 0x08, HekLimitTypeAbsEnc = 0x10, HekLimitTypeNumOf = 5 }
	Joint limit detection types. More...

typedef std::map< int, HekRobotJoint >	MapRobotJoints
	Map of robot joints. More...

Public Member Functions
	if (sum.tv_usec > MILLION)

	if (sum.tv_nsec > BILLION)

Public Attributes
const char *const	HekProdFamily = "Hekateros"
	product family name

const int	HekProdFamilyUnknown = 0
	unknown/undefined product family

const int	HekProdIdUnknown = 0
	unknown/undefined product id

const char *const	HekProdSizeStrUnknown = "?"
	Common *Hekateros* product size codes as strings. More...

const char *const	HekProdSizeStrStd = "N"
	standard (normal) size

const char *const	HekProdSizeStrShort = "S"
	short

const char *const	HekProdSizeStrLong = "L"
	long

const char *const	HekProdSizeStrMini = "Mini"
	mini

const char *const	HekImageDir = "/usr/local/share/Hekateros/images"
	image directory

const char *const	HekIconDir = "/usr/local/share/Hekateros/images/icons"
	icon directory

const char *const	HekSysCfgPath = "/etc/hekateros:/etc"
	System configuration search path.

const char *const	HekUserCfgPath = "/etc/hekateros:~/.roadnarrows"
	User configuration search path and inheritance order.

const char *const	HekEtcCfg = "hekateros.conf"
	xml configuration file

const char *const	HekEtcTune = "hek_tune.conf"
	xml tune file

const char *const	HekPanelXml = "hek_panel.xml"
	hek_panel configuration

const char *const	HekEECamXml = "hek_eecam.xml"
	end effector camera cfg

const char *const	HekXboxXml = "hek_xbox.xml"
	Xbox teleop config.

const char *const	HekXslUrl
	xml stylesheet url More...

const char *const	HekXsiUrl
	xml schema instance url More...

const char *const	HekI2CDevice = "/dev/i2c-3"
	i2c device name

const int	HekGpioAlarmLED = 10
	alarm led gpio number

const int	HekGpioHalt = 174
	halt gpio number

const int	HekGpioHalted = 170
	halt gpio number

const char *const	HekDevDynabus = "/dev/dynabus"
	dynabus device name

const int	HekBaudRateDynabus = 1000000
	dynabus baudrate

const char *const	HekDevArduino = "/dev/arduino"
	arduino device name

const int	HekBaudRateArduino = 115200
	arduino baudrate

const int	HekProdArm4LId = HEK_PRODUCT_ID(HekProdSizeLong, 4, 0)
	product id

const int	HekProdArm4LNumLinks = 4
	number of fixed links

const int	HekProdArm4LDoF = 4
	degrees of freedom

const int	HekProdArm4LNumOptLimits = 4
	number of optical limits

const int	HekProdArm4LNumServos = 5
	number of servos

const HekSpecLink_T	HekProdArm4LSpecLinks []
	Specification of links. More...

const HekSpecJoint_T	HekProdArm4LSpecJoints_1_1 []
	Specification of joints, v1.1. More...

const HekSpecServo_T	HekProdArm4LSpecServos_1_1 []
	Specification of servos, v1.1. More...

const int	HekProdArm4SId = HEK_PRODUCT_ID(HekProdSizeShort, 4, 0)
	product id

const int	HekProdArm4SVersion = HEK_VERSION(1, 0, 0)
	hw version

const int	HekProdArm4SNumLinks = 4
	number of fixed links

const int	HekProdArm4SDoF = 4
	degrees of freedom

const int	HekProdArm4SNumServos = 5
	number of servos

const int	HekProdArm5LId = HEK_PRODUCT_ID(HekProdSizeLong, 5, 0)
	product id

const int	HekProdArm5LNumLinks = 5
	number of fixed links

const int	HekProdArm5LDoF = 5
	degrees of freedom

const int	HekProdArm5LNumOptLimits = 6
	number of optical limits

const int	HekProdArm5LNumServos = 6
	number of servos

const HekSpecLink_T	HekProdArm5LSpecLinks []
	Specification of links. More...

const HekSpecJoint_T	HekProdArm5LSpecJoints_1_1 []
	Specification of joints, v1.1. More...

const HekSpecServo_T	HekProdArm5LSpecServos_1_1 []
	Specification of servos, v1.1. More...

const HekSpecJoint_T	HekProdArm5LSpecJoints_1_2 []
	Specification of joints, v1.2. More...

const HekSpecServo_T	HekProdArm5LSpecServos_1_2 []
	Specification of servos, v1.2. More...

const HekSpecJoint_T	HekProdArm5LSpecJoints_1_3 []
	Specification of joints, v1.3. More...

const HekSpecServo_T	HekProdArm5LSpecServos_1_3 []
	Specification of servos, v1.3. More...

const HekSpecJoint_T	HekProdArm5LSpecJoints_1_3_5 []
	Specification of joints, v1.3.5. More...

const HekSpecServo_T	HekProdArm5LSpecServos_1_3_5 []
	Specification of servos, v1.4. More...

const HekSpecJoint_T	HekProdArm5LSpecJoints_1_4 []
	Specification of joints, v1.4. More...

const HekSpecServo_T	HekProdArm5LSpecServos_1_4 []
	Specification of servos, v1.4. More...

const HekSpecJoint_T	HekProdArm5LSpecJoints_2_0 []
	Specification of joints, v2.0. More...

const HekSpecServo_T	HekProdArm5LSpecServos_2_0 []
	Specification of servos, v2.0. More...

const int	HekProdArm5LBetaId = HEK_PRODUCT_ID(HekProdSizeLong, 5, HEK_PROD_BETA)
	product id

const int	HekProdArm5LBetaVersion = HEK_VERSION(0, 9, 2)
	hw version

const int	HekProdArm5LBetaNumLinks = 5
	number of fixed links

const int	HekProdArm5LBetaDoF = 5
	degrees of freedom

const int	HekProdArm5LBetaNumOptLimits = 0
	number of optical limits

const int	HekProdArm5LBetaNumServos = 6
	number of servos

const HekSpecLink_T	HekProdArm5LBetaSpecLinks []
	Specification of links. More...

const HekSpecJoint_T	HekProdArm5LBetaSpecJoints []
	Specification of joints. More...

const HekSpecServo_T	HekProdArm5LBetaSpecServos []
	Specification of servos. More...

const int	HekProdArm5SId = HEK_PRODUCT_ID(HekProdSizeShort, 5, 0)
	product id

const int	HekProdArm5SVersion = HEK_VERSION(1, 0, 0)
	hw version

const int	HekProdArm5SNumLinks = 5
	number of fixed links

const int	HekProdArm5SDoF = 5
	degrees of freedom

const int	HekProdArm5SNumServos = 6
	number of servos

const int	HekProdEEFixedFamily = 0x01
	family

const int	HekProdEEFixedId = HEK_EE_PRODUCT_ID( 0x01 , HekProdSizeStd, 1, 0)
	prod id

const int	HekProdEEFixedVersion = HEK_VERSION(1, 0, 0)
	hw ver

const int	HekProdEEFixedNumLinks = 1
	number of fixed links

const int	HekProdEEFixedDoF = 0
	degrees of freedom

const int	HekProdEEFixedNumServos = 0
	number of servos

const double	HekProdEEFixedLinkLengths [HekProdEEFixedNumLinks]
	Link lengths (mm). More...

const int	HekProdEEGraboidFamily = 0x02
	family

const int	HekProdEEGraboidId = HEK_EE_PRODUCT_ID( 0x02 , HekProdSizeStd, 1, 0)
	prod id

const int	HekProdEEGraboidNumLinks = 3
	number of fixed links

const int	HekProdEEGraboidDoF = 1
	degrees of freedom

const int	HekProdEEGraboidNumOptLimits = 0
	number of optical limits

const int	HekProdEEGraboidNumServos = 1
	number of servos

const HekSpecLink_T	HekProdEEGraboidSpecLinks []
	Specification of links. More...

const HekSpecJoint_T	HekProdEEGraboidSpecJoints_1_0 []
	Specification of joints, v1.0. More...

const HekSpecServo_T	HekProdEEGraboidSpecServos_1_0 []
	Specification of servos, v1.0. More...

const HekSpecJoint_T	HekProdEEGraboidSpecJoints_1_1 []
	Specification of joints, v1.1. More...

const HekSpecServo_T	HekProdEEGraboidSpecServos_1_1 []
	Specification of servos, v1.1. More...

const HekSpecJoint_T	HekProdEEGraboidSpecJoints_1_2 []
	Specification of joints, v1.2. More...

const HekSpecServo_T	HekProdEEGraboidSpecServos_1_2 []
	Specification of servos, v1.2. More...

const long	MILLION = 1000000

const long long	BILLION = 1000000000

struct timeval	sum = op1

sum	tv_sec = op2.tv_sec

sum	tv_usec = op2.tv_usec

return	sum

struct timespec	sum = op1

sum	tv_nsec = op2.tv_nsec

Static Public Attributes
static const int	HEK_OK = 0
	not an error, success

static const int	HEK_ECODE_GEN = 1
	general, unspecified error

static const int	HEK_ECODE_SYS = 2
	system (errno) error

static const int	HEK_ECODE_INTERNAL = 3
	internal error (bug)

static const int	HEK_ECODE_BAD_VAL = 4
	bad value general error

static const int	HEK_ECODE_TOO_BIG = 5
	value/list/size too big

static const int	HEK_ECODE_TOO_SMALL = 6
	value/list/size too small

static const int	HEK_ECODE_RANGE = 7
	value out-of-range

static const int	HEK_ECODE_BAD_OP = 8
	invalid operation error

static const int	HEK_ECODE_TIMEDOUT = 9
	operation timed out error

static const int	HEK_ECODE_NO_DEV = 10
	device not found error

static const int	HEK_ECODE_NO_RSRC = 11
	no resource available error

static const int	HEK_ECODE_BUSY = 12
	resource busy error

static const int	HEK_ECODE_NO_EXEC = 13
	cannot execute error

static const int	HEK_ECODE_PERM = 14
	no permissions error

static const int	HEK_ECODE_DYNA = 15
	dynamixel error

static const int	HEK_ECODE_VIDEO = 16
	video error

static const int	HEK_ECODE_FORMAT = 17
	bad format

static const int	HEK_ECODE_BOTSENSE = 18
	botsense error

static const int	HEK_ECODE_NO_FILE = 19
	file not found

static const int	HEK_ECODE_XML = 20
	XML error.

static const int	HEK_ECODE_ALARMED = 21
	robot is alarmed

static const int	HEK_ECODE_INTR = 22
	operation interrupted

static const int	HEK_ECODE_COLLISION = 23
	robot link(s) in collision

static const int	HEK_ECODE_ESTOP = 24
	robot emergency stopped

static const int	HEK_ECODE_BADEC = 25
	bad error code

static const int	HEK_ECODE_NUMOF = 26
	number of error codes

static const int	HekServoIdBase = 1
	continuous rotating base

static const int	HekServoIdShoulderL = 2
	left shoulder

static const int	HekServoIdShoulderR = 3
	right shoulder (linked slave)

static const int	HekServoIdElbow = 4
	elbow

static const int	HekServoIdWristPitch = 5
	wrist pitch

static const int	HekServoIdWristRot = 6
	wrist continuous rotation

static const int	HekServoIdRsrv1 = 7
	reserved for future bases

static const int	HekServoIdRsrv2 = 8
	reserved for future bases

static const int	HekServoIdRsrv3 = 9
	reserved for future bases

static const int	HekServoIdEEStart = 10
	start id

static const int	HekServoIdGraboid = 10
	graboid

static const int	HekServoIdEquipStart = 20
	start id

static const int	HekServoIdEquipPan = 20
	pan

static const int	HekServoIdEquipTilt = 21
	tilt

static const int	HekServoIdAuxStart = 30
	start id

static const int	HekServoIdAuxPan = 30
	pan

static const int	HekServoIdAuxTilt = 31
	tilt

static const byte_t	HekIOExpI2CAddr = 0x20
	i2c 7-bit address

static const byte_t	HekIOExpCmdInput0 = 0
	read port 0 command

static const byte_t	HekIOExpCmdInput1 = 1
	read port 1 command

static const byte_t	HekIOExpCmdOutput0 = 2
	write port 0 command

static const byte_t	HekIOExpCmdOutput1 = 3
	write port 1 command

static const byte_t	HekIOExpCmdPolarity0 = 4
	polarity inversion port 0

static const byte_t	HekIOExpCmdPolarity1 = 5
	polarity inversion port 1

static const byte_t	HekIOExpCmdConfig0 = 6
	configuration port 0 cmd

static const byte_t	HekIOExpCmdConfig1 = 7
	configuration port 1 cmd

static const byte_t	HekIOExpUnassigned = 0
	unassigned port bit

static const byte_t	HekIOExpDark = 0
	optic switch blocked

static const byte_t	HekIOExpLight = 0xff
	optical switch is lit

static const byte_t	HekIOExpConstPolarity0 = 0x00
	port 0 not inverted

static const byte_t	HekIOExpConstConfig0 = 0xff
	port 0 all input

static const byte_t	HekIOExpPort0Base0 = 0x01
	base 0 ° limit

static const byte_t	HekIOExpPort0Base180 = 0x02
	base 180 ° lim.

static const byte_t	HekIOExpPort0Shoulder = 0x04
	shoulder limit

static const byte_t	HekIOExpPort0Elbow = 0x08
	elbow limit

static const byte_t	HekIOExpPort0WristPitch = 0x10
	wrist pitch limit

static const byte_t	HekIOExpPort0WristRot0 = 0x20
	wrist rot 0 °

static const byte_t	HekIOExpPort0Rsrv1 = 0x40
	reserved

static const byte_t	HekIOExpPort0Rsrv2 = 0x80
	reserved

static const byte_t	HekIOExpPort1EEUser1 = 0x01
	user defined 1

static const byte_t	HekIOExpPort1EEUser2 = 0x02
	user defined 2

static const byte_t	HekIOExpPort1Rsrv1 = 0x04
	reserved

static const byte_t	HekIOExpPort1Rsrv2 = 0x08
	reserved

static const byte_t	HekIOExpPort1Rsrv3 = 0x10
	reserved

static const byte_t	HekIOExpPort1Rsrv4 = 0x20
	reserved

static const byte_t	HekIOExpPort1Rsrv5 = 0x40
	reserved

static const byte_t	HekIOExpPort1Rsrv6 = 0x80
	reserved

static const int	HekOptLimitMaxPerJoint = 2
	max limits/joint

static const int	HekOptLimitMaxEdges = 2
	max edges/limit


static const double	HekTuneKinHzDft = 30.0
	Default kinematics thread cycle rate (Hertz). More...

static const double	HekTuneKinHzMin = 0.1
	Minimum kinematics thread cycle rate (Hertz). More...

static const double	HekTuneOverTorqueThDft = 80.0
	Default joint over torque threshold (% of maximum) More...

static const double	HekTuneEEOverTorqueThDft = 40.0
	Default end effector over torque threshold (% of maximum) More...

static const double	HekTuneOverTorqueThMin = 10.0
	Minimum joint over torque threshold (% of maximum)

static const double	HekTuneOverTorqueThMax = 100.0
	Maximum joint over torque threshold (% of maximum)

static const double	HekTuneClearTorqueOffsetDft = 90.0
	Default clear torque condition hysteresis threshhold offset (% of over torque threshold). More...

static const double	HekTuneClearTorqueOffsetMin = 10.0
	Minimum clear torque condition hysteresis threshhold offset (% of over torque threshold).

static const double	HekTuneClearTorqueOffsetMax = 99.5
	Maximum clear torque condition hysteresis threshhold offset (% of over torque threshold).

static const double	HekTuneVelDerateDft = 100.0
	Default Hekateros robot velocity derate (% of goal velocities). More...

static const double	HekTuneVelDerateMin = 10.0
	Minimum robot velocity derate (% of goal velocities).

static const double	HekTuneVelDerateMax = 100.0
	Maximum robot velocity derate (% of goal velocities).

static const double	HekTuneTolPosDft = 0.2
	Default joint position control tolerance (degrees). More...

static const double	HekTuneTolPosMin = 0.0
	Minimum joint position control tolerance (degrees).

static const double	HekTuneTolVelDft = 1.0
	Default joint velocity control tolerance (degrees/second). More...

static const double	HekTuneTolVelMin = 0.0
	Minimum joint velocition control tolerance (degrees/second).

static const double	HekTunePidKpDft = 3.0
	Default joint position and velocity PID proportional constant. More...

static const double	HekTunePidKiDft = 0.05
	Default joint position and velocity PID integral constant. More...

static const double	HekTunePidKdDft = 0.1
	Default joint position and velocity PID derivative constant. More...

static const double	HekTunePidKMin = 0.0
	Minimum PID K constant value.

static const double	HekTunePidMaxDeltaVDft = 30.0
	Maximum PID delta V output (degrees/second) More...

static const double	HekTunePidDeltaVNoMax = 0
	No maximum PID delta V output special value.

static const HekNorm	HekTuneTrajNormDft = HekNormLinf
	Default trajectory norm. More...

static const double	HekTuneTrajEpsilonDft = 20.0
	Default trajectory distance epsilon (degrees). More...

static const double	HekTuneTrajEpsilonMin = 0.0
	Minimum epsilon value.

Detailed Description

Definition at line 173 of file hekUtils.cxx.

Member Typedef Documentation

typedef std::map<int, HekRobotJoint> hekateros::MapRobotJoints

Map of robot joints.

key:	master servo id
mapped type:	joint data

Note: Joint order is critical. Ascending servo ids keeps map in order, but if this cannot be guaranteed, then change strategy.

Definition at line 202 of file hekJoint.h.

Member Enumeration Documentation

enum hekateros::HekJointType

Supported joint types.

Enumerator
HekJointTypeUnknown	unknown/undefined joint type
HekJointTypeFixed	fixed joint
HekJointTypeRevolute	limited rotation
HekJointTypeContinuous	continuous rotation
HekJointTypeRevMimic	mimic rotation (e.g. fingers)
HekJointTypeNumOf	number of supported joint types

Definition at line 73 of file hekSpec.h.

   {
     HekJointTypeUnknown   = 0,    ///< unknown/undefined joint type
     HekJointTypeFixed,            ///< fixed joint
     HekJointTypeRevolute,         ///< limited rotation
     HekJointTypeContinuous,       ///< continuous rotation
     HekJointTypeRevMimic,         ///< mimic rotation (e.g. fingers)
 
     HekJointTypeNumOf     = 4     ///< number of supported joint types
   };

enum hekateros::HekLimitType

Joint limit detection types.

A joint may have more than one type.

Enumerator
HekLimitTypeUnknown	unknown/undefined joint type
HekLimitTypeNone	no limit detection
HekLimitTypePhys	physical
HekLimitTypeElec	electronic
HekLimitTypeElecTDC	electronic top dead center
HekLimitTypeAbsEnc	absolute encoder
HekLimitTypeNumOf	number of supported joint types

Definition at line 89 of file hekSpec.h.

   {
     HekLimitTypeUnknown = 0x00,   ///< unknown/undefined joint type
     HekLimitTypeNone    = 0x01,   ///< no limit detection
     HekLimitTypePhys    = 0x02,   ///< physical
     HekLimitTypeElec    = 0x04,   ///< electronic
     HekLimitTypeElecTDC = 0x08,   ///< electronic top dead center
     HekLimitTypeAbsEnc  = 0x10,   ///< absolute encoder
 
     HekLimitTypeNumOf   = 5       ///< number of supported joint types
   };

Member Data Documentation

const HekSpecJoint_T hekateros::HekProdArm4LSpecJoints_1_1

Specification of joints, v1.1.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 87 of file hekProdArm4L.h.

const HekSpecLink_T hekateros::HekProdArm4LSpecLinks

Initial value:

=
{
  
  { "base_fixed",
    0.0
  },
  
  { "upper_arm",
    406.27
  },
  
  { "forearm",
    401.6
  },
  
  { "tool_zero",
    0.0
  }
}

Specification of links.

Data:: link_name,
length(mm)

TODO

Definition at line 82 of file hekProdArm4L.h.

const HekSpecServo_T hekateros::HekProdArm4LSpecServos_1_1

Initial value:

=
{
  {HekServoIdShoulderL,   true,   true, DYNA_DIR_CW,  60.0},
  {HekServoIdShoulderR,   false,  true, DYNA_DIR_CCW, 60.0},
  {HekServoIdElbow,       true,   true, DYNA_DIR_CW,  60.0},
  {HekServoIdWristPitch,  true,   true, DYNA_DIR_CCW, 60.0},
  {HekServoIdWristRot,    true,   true, DYNA_DIR_CW,  60.0}
}

Specification of servos, v1.1.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir toque_limit(% of max)

Definition at line 92 of file hekProdArm4L.h.

const HekSpecJoint_T hekateros::HekProdArm5LBetaSpecJoints

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 92 of file hekProdArm5LBeta.h.

const HekSpecLink_T hekateros::HekProdArm5LBetaSpecLinks

Initial value:

=
{
  
  { "base_fixed",
    0.0
  },
  
  { "base",
    0.0
  },
  
  { "upper_arm",
    406.27
  },
  
  { "forearm",
    401.6
  },
  
  { "tool_zero",
    0.0
  }
}

Specification of links.

Data:: name,
length(mm)

TODO

Definition at line 87 of file hekProdArm5LBeta.h.

const HekSpecServo_T hekateros::HekProdArm5LBetaSpecServos

Initial value:

=
{
  {HekServoIdBase,        true,   true, DYNA_DIR_CCW, 80.0},
  {HekServoIdShoulderL,   true,   true, DYNA_DIR_CW,  80.0},
  {HekServoIdShoulderR,   false,  true, DYNA_DIR_CCW, 80.0},
  {HekServoIdElbow,       true,   true, DYNA_DIR_CW,  80.0},
  {HekServoIdWristPitch,  true,   true, DYNA_DIR_CCW, 80.0},
  {HekServoIdWristRot,    true,   true, DYNA_DIR_CW,  80.0}
}

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir toque_limit(% of max)

Definition at line 97 of file hekProdArm5LBeta.h.

const HekSpecJoint_T hekateros::HekProdArm5LSpecJoints_1_1

Specification of joints, v1.1.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 84 of file hekProdArm5L.h.

const HekSpecJoint_T hekateros::HekProdArm5LSpecJoints_1_2

Specification of joints, v1.2.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 90 of file hekProdArm5L.h.

const HekSpecJoint_T hekateros::HekProdArm5LSpecJoints_1_3

Specification of joints, v1.3.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 96 of file hekProdArm5L.h.

const HekSpecJoint_T hekateros::HekProdArm5LSpecJoints_1_3_5

Specification of joints, v1.3.5.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 102 of file hekProdArm5L.h.

const HekSpecJoint_T hekateros::HekProdArm5LSpecJoints_1_4

Specification of joints, v1.4.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 108 of file hekProdArm5L.h.

const HekSpecJoint_T hekateros::HekProdArm5LSpecJoints_2_0

Specification of joints, v2.0.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 114 of file hekProdArm5L.h.

const HekSpecLink_T hekateros::HekProdArm5LSpecLinks

Initial value:

=
{
  
  { "base_fixed",
    0.0
  },
  
  { "base_rot",
    0.0
  },
  
  { "upper_arm",
    406.27
  },
  
  { "forearm",
    401.6
  },
  
  { "tool_zero",
    0.0
  }
}

Specification of links.

Data:: link_name,
length(mm)

TODO

Definition at line 81 of file hekProdArm5L.h.

const HekSpecServo_T hekateros::HekProdArm5LSpecServos_1_1

Initial value:

=
{
  {HekServoIdBase,        true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdShoulderL,   true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdShoulderR,   false,  true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdElbow,       true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdWristPitch,  true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdWristRot,    true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
}

Specification of servos, v1.1.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir toque_limit(% of max)

Definition at line 87 of file hekProdArm5L.h.

const HekSpecServo_T hekateros::HekProdArm5LSpecServos_1_2

Initial value:

=
{
  {HekServoIdBase,        true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdShoulderL,   true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdShoulderR,   false,  true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdElbow,       true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdWristPitch,  true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdWristRot,    true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
}

Specification of servos, v1.2.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir toque_limit(% of max)

Definition at line 93 of file hekProdArm5L.h.

const HekSpecServo_T hekateros::HekProdArm5LSpecServos_1_3

Initial value:

=
{
  {HekServoIdBase,        true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdShoulderL,   true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdShoulderR,   false,  true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdElbow,       true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdWristPitch,  true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdWristRot,    true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
}

Specification of servos, v1.3.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir toque_limit(% of max)

Definition at line 99 of file hekProdArm5L.h.

const HekSpecServo_T hekateros::HekProdArm5LSpecServos_1_3_5

Initial value:

=
{
  {HekServoIdBase,        true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdShoulderL,   true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdShoulderR,   false,  true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdElbow,       true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdWristPitch,  true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdWristRot,    true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
}

Specification of servos, v1.4.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir toque_limit(% of max)

Definition at line 105 of file hekProdArm5L.h.

const HekSpecServo_T hekateros::HekProdArm5LSpecServos_1_4

Initial value:

=
{
  {HekServoIdBase,        true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdShoulderL,   true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdShoulderR,   false,  true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdElbow,       true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdWristPitch,  true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdWristRot,    true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
}

Specification of servos, v1.4.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir toque_limit(% of max)

Definition at line 111 of file hekProdArm5L.h.

const HekSpecServo_T hekateros::HekProdArm5LSpecServos_2_0

Initial value:

=
{
  {HekServoIdBase,        true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdShoulderL,   true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdShoulderR,   false,  true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdElbow,       true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
  {HekServoIdWristPitch,  true,   true, DYNA_DIR_CCW, HekTuneOverTorqueThDft},
  {HekServoIdWristRot,    true,   true, DYNA_DIR_CW,  HekTuneOverTorqueThDft},
}

Specification of servos, v2.0.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir toque_limit(% of max)

Definition at line 117 of file hekProdArm5L.h.

const double hekateros::HekProdEEFixedLinkLengths[HekProdEEFixedNumLinks]

Initial value:

Link lengths (mm).

Definition at line 91 of file hekProdEEFixed.h.

const HekSpecJoint_T hekateros::HekProdEEGraboidSpecJoints_1_0

Initial value:

=
{
  { "grip",
    HekServoIdGraboid, DYNA_ID_NONE, HekJointTypeRevMimic, 2.0,
    0.0, 60.0, HekLimitTypePhys,
    {
      { HekIOExpUnassigned, 0.0, 0.0, 0.0, 0.0, 0.0 },
      { HekIOExpUnassigned, 0.0, 0.0, 0.0, 0.0, 0.0 }
    },
    5.0, 20.0, 20.0,
    0, 1
  }
}

Specification of joints, v1.0.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 90 of file hekProdEEGraboid.h.

const HekSpecJoint_T hekateros::HekProdEEGraboidSpecJoints_1_1

Initial value:

=
{
  { "grip",
    HekServoIdGraboid, DYNA_ID_NONE, HekJointTypeRevMimic, 2.0,
    0.0, 60.0, HekLimitTypePhys,
    {
      { HekIOExpUnassigned, 0.0, 0.0, 0.0, 0.0, 0.0 },
      { HekIOExpUnassigned, 0.0, 0.0, 0.0, 0.0, 0.0 }
    },
    5.0, 20.0, 20.0,
    0, 1
  }
}

Specification of joints, v1.1.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 96 of file hekProdEEGraboid.h.

const HekSpecJoint_T hekateros::HekProdEEGraboidSpecJoints_1_2

Initial value:

=
{
  { "grip",
    HekServoIdGraboid, DYNA_ID_NONE, HekJointTypeRevMimic, 4.0,
    0.0, 60.0, HekLimitTypePhys,
    {
      { HekIOExpUnassigned, 0.0, 0.0, 0.0, 0.0, 0.0 },
      { HekIOExpUnassigned, 0.0, 0.0, 0.0, 0.0, 0.0 }
    },
    5.0, 20.0, 20.0,
    0, 1
  }
}

Specification of joints, v1.2.

Specification of joints.

Data:: joint_name,
master_servo_id, slave_servo_id, joint_type, gear_ratio,
min_phy_limit(deg), max_phy_limit(deg), limit_types,
{ {io_bit_0, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, {io_bit_1, min_edge_pos(deg), min_black_pos(deg), center_pos(deg), max_black_pos(deg), max_edge_pos(deg) }, calib_pos(deg), balanced_pos(deg), park_pos(deg)
parent_link_idx, child_link_index

Definition at line 102 of file hekProdEEGraboid.h.

const HekSpecLink_T hekateros::HekProdEEGraboidSpecLinks

Initial value:

=
{
  
  { "gear_assembly",
    0.0
  },
  
  { "finger_L",
    0.0
  },
  
  { "finger_R",
    406.27
  }
}

Specification of links.

Data:: name,
length(mm)

TODO

Definition at line 87 of file hekProdEEGraboid.h.

const HekSpecServo_T hekateros::HekProdEEGraboidSpecServos_1_0

Initial value:

=
{
  
  {HekServoIdGraboid,   true, false, DYNA_DIR_CW, 60.0}
}

Specification of servos, v1.0.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir_to_max toque_limit(% of max)

Definition at line 93 of file hekProdEEGraboid.h.

const HekSpecServo_T hekateros::HekProdEEGraboidSpecServos_1_1

Initial value:

=
{
  
  {HekServoIdGraboid,   true, true, DYNA_DIR_CW, HekTuneEEOverTorqueThDft}
}

Specification of servos, v1.1.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir_to_max toque_limit(% of max)

Definition at line 99 of file hekProdEEGraboid.h.

const HekSpecServo_T hekateros::HekProdEEGraboidSpecServos_1_2

Initial value:

=
{
  
  {HekServoIdGraboid,   true, true, DYNA_DIR_CW, HekTuneEEOverTorqueThDft}
}

Specification of servos, v1.2.

Specification of servos.

Data:: servo_id, is_master, is_continuous, dir_to_max toque_limit(% of max)

Definition at line 105 of file hekProdEEGraboid.h.

const double hekateros::HekTuneClearTorqueOffsetDft = 90.0

static

Default clear torque condition hysteresis threshhold offset (% of over torque threshold).

The fraction is of the joint's over torque threshold. Once the servos associtated with a joint enter the over torque condition, the condition does not clear until torque is below the clear torque threshold.

The working value is converted to raw motor load values internally.

* clear_torque_offset = tune_clear_torque_offset / 100.0
* clear_over_torque_cond_th = over_torque_th * clear_torque_offset
*

Range: [HekTuneClearTorqueOffsetMin, HekTuneClearTorqueOffsetMax] Scope: global

Definition at line 172 of file hekTune.h.

const double hekateros::HekTuneEEOverTorqueThDft = 40.0

static

Default end effector over torque threshold (% of maximum)

Default default for all end effector joints. The actual defaults are specified in the compiled product spec on a per joint basis.

The working value is converted to raw motor load values internally.

* over_torque_th = tune_over_torque_th / 100.0 * max_motor_load(joint)
*

Range: [HekTuneOverTorqueThMin, HekTuneOverTorqueThMax] Scope: global

Definition at line 138 of file hekTune.h.

const double hekateros::HekTuneKinHzDft = 30.0

static

Default kinematics thread cycle rate (Hertz).

defgroup hek_tunes

All dynamics and kinematics tasks exectute per each cycle.

* kin_hz = tune_kin_hz
* T_task = 1/kin_hz * 1/(numof_joints + 1)
*   Where each joint dynamics is monitored and controlled each cycle and the
*   extra task is for health monitoring.
*

Range: ≥ HekTuneKinHzMin Scope: global

Definition at line 93 of file hekTune.h.

const double hekateros::HekTuneKinHzMin = 0.1

static

Minimum kinematics thread cycle rate (Hertz).

Gotta give me something boys!

Definition at line 100 of file hekTune.h.

Referenced by hekateros::HekKinematics::HekKinematics(), and hekateros::HekKinematics::setHz().

const double hekateros::HekTuneOverTorqueThDft = 80.0

static

Default joint over torque threshold (% of maximum)

Default default for all arm joints excluding end effector. The actual defaults are specified in the compiled product spec on a per joint basis.

The working value is converted to raw motor load values internally.

* over_torque_th = tune_over_torque_th / 100.0 * max_motor_load(joint)
*

Range: [HekTuneOverTorqueThMin, HekTuneOverTorqueThMax] Scope: per joint

Definition at line 121 of file hekTune.h.

const double hekateros::HekTunePidKdDft = 0.1

static

Default joint position and velocity PID derivative constant.

Range: ≥ HekTunePidKMin Scope: per joint

Definition at line 301 of file hekTune.h.

const double hekateros::HekTunePidKiDft = 0.05

static

Default joint position and velocity PID integral constant.

Range: ≥ HekTunePidKMin Scope: per joint

Definition at line 293 of file hekTune.h.

const double hekateros::HekTunePidKpDft = 3.0

static

Default joint position and velocity PID proportional constant.

Range: ≥ HekTunePidKMin Scope: per joint

Definition at line 285 of file hekTune.h.

const double hekateros::HekTunePidMaxDeltaVDft = 30.0

static

Maximum PID delta V output (degrees/second)

Range: HekTunePidDeltaVNoMax or > 0.0 Scope: per joint

Definition at line 314 of file hekTune.h.

Referenced by hekateros::HekKinJoint::HekKinJoint().

const double hekateros::HekTuneTolPosDft = 0.2

static

Default joint position control tolerance (degrees).

A joint goal position that is within the position tolerance of the current joint position is considered identical. If the joint was moving to the goal position, the joint will be automatically stopped.

The working value is converted to radians internally.

* tol_pos = deg_to_rad(tune_tol_pos)
* |joint_goal_pos - joint_cur_pos| < tol_pos <==> same position.
*

Range: ≥ HekTuneTolPosMin Scope: per joint

Definition at line 239 of file hekTune.h.

Referenced by hekateros::HekKinJoint::HekKinJoint().

const double hekateros::HekTuneTolVelDft = 1.0

static

Default joint velocity control tolerance (degrees/second).

A joint goal velocity that is within the velocity tolerance of the current joint velocity is considered identical. No speed updates will be written to the servo contoller.

The working value is converted to radians/second internally.

* tol_vel = deg_to_rad(tune_tol_vel)
* |joint_goal_vel - joint_cur_vel| < tol_vel <==> same velocity.
*

Range: ≥ HekTuneTolVelMin Scope: per joint

Definition at line 268 of file hekTune.h.

Referenced by hekateros::HekKinJoint::HekKinJoint().

const double hekateros::HekTuneTrajEpsilonDft = 20.0

static

Default trajectory distance epsilon (degrees).

Trajectory waypoints distances within epsilon are considered reached.

The working value is converted to radians internally.

* ||WP-P|| < epsilon <==> waypoint reached
*   Where WP is the vector of joint waypoint positions and P is the vector
*   of current joint positions.
*

Range: ≥ HekTuneTrajEpsilonMin

Definition at line 348 of file hekTune.h.

const HekNorm hekateros::HekTuneTrajNormDft = HekNormLinf

static

Default trajectory norm.

Range: HekNormL1, HekNormL2, HekNormLinf Scope: global

Definition at line 331 of file hekTune.h.

const double hekateros::HekTuneVelDerateDft = 100.0

static

Default Hekateros robot velocity derate (% of goal velocities).

When a new move command is received, all of the goal velocities are multiplied by this derated value.

The working value is converted to a normalized value internally.

* velocity_derate = tune_velocity_derate / 100.0
* joint_goal_vel = joint_goal_vel * velocity_derate
*

Range: [HekTuneVelDerateMin, HekTuneVelDerateMax] Scope: global

Definition at line 206 of file hekTune.h.

Referenced by hekateros::HekKinJoint::HekKinJoint().

The documentation for this struct was generated from the following files:

sw/libhekateros/hekUtils.cxx
include/Hekateros/hekJoint.h
include/Hekateros/hekateros.h
include/Hekateros/hekOptical.h
include/Hekateros/hekProdArm4L.h
include/Hekateros/hekProdArm4S.h
include/Hekateros/hekProdArm5L.h
include/Hekateros/hekProdArm5LBeta.h
include/Hekateros/hekProdArm5S.h
include/Hekateros/hekProdEEFixed.h
include/Hekateros/hekProdEEGraboid.h
include/Hekateros/hekSpec.h
include/Hekateros/hekTune.h
include/Hekateros/hekUtils.h
sw/libhekateros/hekProdArm4L.cxx
sw/libhekateros/hekProdArm5L.cxx
sw/libhekateros/hekProdArm5LBeta.cxx
sw/libhekateros/hekProdEEGraboid.cxx

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Member Data Documentation