orca-robotics INTRODUCTION Overview Download and Install Documentation REPOSITORY Interfaces Drivers Libraries Utilities Software Map DEVELOPER Dashboard PEOPLE Contributors Users Project Download Mailing lists

rawrxdata.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef SEGWAYRMP_RAWRXDATA_H #define SEGWAYRMP_RAWRXDATA_H #include <string> #include "canpacket.h" namespace segwayrmpacfr { // // @brief Holds data received by the host from the RMP, in the RMP's // raw format (ie everything as counts). // // This thing is supposed to have a lifetime longer than an individual CAN packet. // Since different CAN packets hold different kinds of data, this thing acts // as an accumulator. // // The RawRxData structure is complete when it has a status message // and all 8 monitoring messages // class RawRxData { public: // Data is empty on construction. RawRxData(); // Adds information from a packet void addPacket(const CanPacket &pkt); // Print out frame data to string std::string toString() const; // Did all the packets arrive? bool isComplete() const; // Build ID int16_t build_id; // Pitch Angle int16_t pitch; // Pitch Rate int16_t pitch_dot; // Roll Angle int16_t roll; // Roll Rate int16_t roll_dot; // yaw displacement: generated based on integrated wheel rotations, given known geometry. uint32_t yaw; // Yaw rate: based on inertial data (plus inertial drift is zeroed // periodically when the vehicle is known to be stationary based // on wheel rotations). int16_t yaw_dot; // integrated left wheel displacement uint32_t left_wheel_displacement; // Left wheel Velocity int16_t left_wheel_velocity; // integrated right wheel displacement uint32_t right_wheel_displacement; // Right wheel Velocity int16_t right_wheel_velocity; // integrated fore/aft displacement uint32_t foreaft_displacement; // Left Motor Torque int16_t left_torque; // Right Motor Torque int16_t right_torque; // Servo Frames uint16_t servo_frames; // User Interface battery voltage uint16_t ui_battery_voltage; // User Interface battery status //uint16_t ui_battery_status; // Powerbase attery Voltage (min of A, B) uint16_t base_battery_voltage; // Operational Mode (0= disabled, 1=tractor, 2= balance) uint16_t operational_mode; // Controller Gain Schedule (0=normal, 1=tall, 2=heavy) uint16_t controller_gain_schedule; // Velocity command (as received) int16_t received_velocity_command; // Turn Command (as received) int16_t received_turnrate_command; // CU Status "word 1" int16_t status_word1; // CU Status "word 2" int16_t status_word2; private: std::string CuStatus1ToString() const; std::string CuStatus2ToString() const; // Track which messages we've received bool haveMonitorMsg_[8]; bool haveStatusMsg_; }; } #endif

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)

---