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rmpdefs.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 ORCA2_SEGWAY_RMP_CONFIGURATION_H #define ORCA2_SEGWAY_RMP_CONFIGURATION_H #include <string> // MESSAGE ID'S // Segway->CPU messages // warning: Segway manual refers to them as Message 1-8 // we call them Message 0-7 to synch with 0x0400-407 // 0x0400 = 1024 #define RMP_CAN_ID_MSG0 0x0400 #define RMP_CAN_ID_MSG1 0x0401 #define RMP_CAN_ID_MSG2 0x0402 #define RMP_CAN_ID_MSG3 0x0403 #define RMP_CAN_ID_MSG4 0x0404 #define RMP_CAN_ID_MSG5 0x0405 #define RMP_CAN_ID_MSG6 0x0406 #define RMP_CAN_ID_MSG7 0x0407 // CPU->Segway message #define RMP_CAN_ID_SHUTDOWN 0x0412 // CPU->Segway message #define RMP_CAN_ID_COMMAND 0x0413 // CU->UI: CU Status message #define RMP_CAN_ID_STATUS 0x0680 // UI->CU: RMP Heartbeat message #define RMP_CAN_ID_HEARTBEAT 0x0688 // DATA MASKS // Mask for user interface battery voltage in the heartbeat message. #define RMP_CAN_MASK_HEARTBEAT_UIBAT_VOLTAGE 0x03F0 // Mask for user interface battery status in the heartbeat message. #define RMP_CAN_MASK_HEARTBEAT_UIBAT_STATUS 0xC000 // from table: Bitfield for Reset Integrators, see sec.2.2.2 #define RMP_CAN_RESET_RIGHT 0x01 #define RMP_CAN_RESET_LEFT 0x02 #define RMP_CAN_RESET_YAW 0x04 #define RMP_CAN_RESET_FOREAFT 0x08 #define RMP_CAN_RESET_ALL (RMP_CAN_RESET_RIGHT | \ RMP_CAN_RESET_LEFT | \ RMP_CAN_RESET_YAW | \ RMP_CAN_RESET_FOREAFT) // CU STATUS WORD DEFINITIONS, see sec.2.4.1 #define WORD1_SAFETY_SHUTDOWN_1 0x0001 #define WORD1_SAFETY_SHUTDOWN_1_STRING "Safety Shutdown, type 1" #define WORD1_NOT_USED_0002 0x0002 #define WORD1_NOT_USED_0002_STRING "Not Used" #define WORD1_SAFETY_SHUTDOWN_2 0x0004 #define WORD1_SAFETY_SHUTDOWN_2_STRING "Safety Shutdown, type 2" #define WORD1_DISABLE_RESPONSE 0x0008 #define WORD1_DISABLE_RESPONSE_STRING "Disable Response" #define WORD1_SPEED_LIMIT_4MPH 0x0010 #define WORD1_SPEED_LIMIT_4MPH_STRING "Speed Limit to 4 mph" #define WORD1_SPEED_LIMIT_0MPH 0x0020 #define WORD1_SPEED_LIMIT_0MPH_STRING "Speed Limit to 0 mph" #define WORD1_SYSTEM_INTEGRITY_FAULT 0x0040 #define WORD1_SYSTEM_INTEGRITY_FAULT_STRING "System Integrity Fault" #define WORD1_MOTORS_ENABLED 0x0080 #define WORD1_MOTORS_ENABLED_STRING "Motors Enabled" #define WORD1_BALANCE_MODE 0x0100 #define WORD1_BALANCE_MODE_STRING "Balance Mode" #define WORD1_YAW_TRANSIENT_FLAG 0x0200 #define WORD1_YAW_TRANSIENT_FLAG_STRING "Yaw Transient Flag" #define WORD1_EMPTY_BATTERY_HAZARD 0x0400 #define WORD1_EMPTY_BATTERY_HAZARD_STRING "Empty Battery Hazard" #define WORD1_NOT_USED_0800 0x0800 #define WORD1_NOT_USED_0800_STRING "Not Used" #define WORD1_WHEEL_SLIP_FLAG 0x1000 #define WORD1_WHEEL_SLIP_FLAG_STRING "Wheel Slip Flag" #define WORD1_MOTOR_FEEDBACK_FAULT 0x2000 #define WORD1_MOTOR_FEEDBACK_FAULT_STRING "Motor Feedback Fault" #define WORD1_LOW_BATTRY_HAZARD 0x4000 #define WORD1_LOW_BATTRY_HAZARD_STRING "Low Battery Hazard" #define WORD1_NOT_USED_8000 0x8000 #define WORD1_NOT_USED_8000_STRING "Not Used" #define WORD2_FOREAFT_PITCH_ANGLE_LIMIT_A 0x0001 #define WORD2_FOREAFT_PITCH_ANGLE_LIMIT_A_STRING "Fore/Aft Pitch Angle Limit Exceeded (A)" #define WORD2_ESTOP_SWITCH_OPEN_A 0x0002 #define WORD2_ESTOP_SWITCH_OPEN_A_STRING "E-Stop Switch Open (A)" #define WORD2_POSITION_ERROR_LIMIT_A 0x0004 #define WORD2_POSITION_ERROR_LIMIT_A_STRING "Position Error Limit Exceeded (A)" #define WORD2_MAX_VELOCITY_A 0x0008 #define WORD2_MAX_VELOCITY_A_STRING "Maximum Velocity Exceeded (A)" #define WORD2_BATTERY_EMPTY_A 0x0010 #define WORD2_BATTERY_EMPTY_A_STRING "Battery Empty (A)" #define WORD2_BATTERY_TEMP_LIMIT_A 0x0020 #define WORD2_BATTERY_TEMP_LIMIT_A_STRING "Battery Temperature Out of Range (A)" #define WORD2_ROLL_ANGLE_LIMIT_A 0x0040 #define WORD2_ROLL_ANGLE_LIMIT_A_STRING "Roll Angle Limit Exceeded (A)" #define WORD2_LOW_BATTERY_BUS_VOLTAGE_A 0x0080 #define WORD2_LOW_BATTERY_BUS_VOLTAGE_A_STRING "Low Battery Bus Voltage (A)" #define WORD2_FOREAFT_PITCH_ANGLE_LIMIT_B 0x0100 #define WORD2_FOREAFT_PITCH_ANGLE_LIMIT_B_STRING "Fore/Aft Pitch Angle Limit Exceeded (B)" #define WORD2_ESTOP_SWITCH_OPEN_B 0x0200 #define WORD2_ESTOP_SWITCH_OPEN_B_STRING "E-Stop Switch Open (B)" #define WORD2_POSITION_ERROR_LIMIT_B 0x0400 #define WORD2_POSITION_ERROR_LIMIT_B_STRING "Position Error Limit Exceeded (B)" #define WORD2_MAX_VELOCITY_B 0x0800 #define WORD2_MAX_VELOCITY_B_STRING "Maximum Velocity Exceeded (B)" #define WORD2_BATTERY_EMPTY_B 0x1000 #define WORD2_BATTERY_EMPTY_B_STRING "Battery Empty (B)" #define WORD2_BATTERY_TEMP_LIMIT_B 0x2000 #define WORD2_BATTERY_TEMP_LIMIT_B_STRING "Battery Temperature Out of Range (B)" #define WORD2_ROLL_ANGLE_LIMIT_B 0x4000 #define WORD2_ROLL_ANGLE_LIMIT_B_STRING "Roll Angle Limit Exceeded (B)" #define WORD2_LOW_BATTERY_BUS_VOLTAGE_B 0x8000 #define WORD2_LOW_BATTERY_BUS_VOLTAGE_B_STRING "Low Battery Bus Voltage (B)" // gain schedule for the balance controller #define RMP_GAIN_SCHEDULE_NORMAL 0 #define RMP_GAIN_SCHEDULE_TALL 1 #define RMP_GAIN_SCHEDULE_HEAVY 2 // unit conversions from Data Reference, see sec.4 // different models #define RMP_COUNT_PER_M_RMP50 40181.0 #define RMP_COUNT_PER_M_RMP100 40181.0 #define RMP_COUNT_PER_M_RMP200 33215.0 #define RMP_COUNT_PER_M_RMP400 33215.0 #define RMP_COUNT_PER_M_PER_S_RMP50 401.0 #define RMP_COUNT_PER_M_PER_S_RMP100 401.0 #define RMP_COUNT_PER_M_PER_S_RMP200 332.0 #define RMP_COUNT_PER_M_PER_S_RMP400 332.0 #define RMP_COUNT_PER_DEG 7.8 #define RMP_COUNT_PER_DEG_PER_S 7.8 #define RMP_COUNT_PER_DEG_PER_SS 7.8 #define RMP_COUNT_PER_RAD 446.9071 #define RMP_COUNT_PER_RAD_PER_S 446.9071 #define RMP_COUNT_PER_RAD_PER_SS 446.9071 // This is different from rotation and depends on geometry #define RMP_COUNT_PER_REV_RMP50 117031.0 #define RMP_COUNT_PER_REV_RMP100 117031.0 #define RMP_COUNT_PER_REV_RMP200 112644.0 #define RMP_COUNT_PER_REV_RMP400 112644.0 #define RMP_MAX_LATERAL_ACCELERATION 0.5*9.81 #define RMP_MIN_SPEED_COUNTS_FOR_LATERAL_ACCEL_MODEL 518 // main (CU) battery voltage #define RMP_BASE_COUNT_PER_VOLT 4.0 // user interface battery voltage: volts=offset + n*counts #define RMP_UI_OFFSET 1.4 #define RMP_UI_COEFF 0.0125 // user interface battery status: low battery warning #define RMP_UI_LOW_WARNING 0x80 // user interface battery status: empty battery shutdown #define RMP_UI_EMPTY_SHUTDOWN 0x40 // motor torque #define RMP_COUNT_PER_NM_RMP50 1463.0 #define RMP_COUNT_PER_NM_RMP100 1463.0 #define RMP_COUNT_PER_NM_RMP200 1094.0 #define RMP_COUNT_PER_NM_RMP400 1094.0 #define RMP_SEC_PER_FRAME 0.01 // limits // from page 7 of the manual #define RMP_MAX_TRANS_VEL_COUNT 1176 // This is for the latest ACFR-only firmware version #define RMP_MAX_ROT_VEL_COUNT 562 // This is for the standard firmware (as of Feb 2008) // #define RMP_MAX_ROT_VEL_COUNT 1024 #define RMP_MAX_ROT_VEL_RAD_PER_S M_PI #define RMP_COUNT_PER_RAD_PER_S_CMD (RMP_MAX_ROT_VEL_COUNT/RMP_MAX_ROT_VEL_RAD_PER_S) // minimum powerbase (CU) battery voltage (V) #define RMP_BASE_MIN_VOLTAGE 66.0 // minimum user interface (UI) battery voltage (V) #define RMP_UI_MIN_VOLTAGE 6.0 // maximum time without incoming commands [s] #define RMP_COMMAND_TIMEOUT 0.4 // misc #define RMP_GEOM_WHEEL_SEP 0.54 #define RMP_CAN_DROPPED_PACKET 0x5A5A namespace segwayrmpacfr { enum RmpModel { RmpModel_50, RmpModel_100, RmpModel_200, RmpModel_400 }; std::string toString( RmpModel model ); enum OperationalMode { OperationalModeDisabled=0, OperationalModeTractor=1, OperationalModeBalance=2 }; enum GainSchedule { GainScheduleNormal=0, GainScheduleTall=1, GainScheduleHeavy=2 }; enum BalanceLockout { BalanceAllowed=0, BalanceNotAllowed=1 }; enum ConfigurationCommand { ConfigutationCommandNone=0, ConfigurationCommandSetMaxVelocityScale=10, ConfigurationCommandSetMaxAccelerationScale=11, ConfigurationCommandSetMaxTurnrateScale=12, ConfigurationCommandSetGainSchedule=13, ConfigurationCommandSetCurrentLimitScale=14, ConfigurationCommandSetBalanceModeLockout=15, ConfigurationCommandSetOperationalMode=16, ConfigurationCommandResetIntegrators=50 }; std::string toString(ConfigurationCommand c); enum StatusFlag { // General Flags StatusFlagSafetyShutdownType1, StatusFlagSafetyShutdownType2, StatusFlagDisableResponse, StatusFlagSpeedLimitTo4Mph, StatusFlagSpeedLimitTo0Mph, StatusFlagSystemIntegrityFault, StatusFlagMotorsEnabled, StatusFlagBalanceMode, StatusFlagYawTransient, StatusFlagEmptyBatteryHazard, StatusFlagWheelSlip, StatusFlagMotorFeedbackFault, StatusFlagLowBatteryHazard, // Flags for side A StatusFlagForeAftPitchAngleLimitExceededA, StatusFlagEStopSwitchOpenA, StatusFlagPositionErrorLimitExceededA, StatusFlagMaxVelocityExceededA, StatusFlagBatteryEmptyA, StatusFlagBatteryTemperatureOutOfRangeA, StatusFlagRollAngleLimitExceededA, StatusFlagLowBatteryBusVoltageA, // Flags for side B StatusFlagForeAftPitchAngleLimitExceededB, StatusFlagEStopSwitchOpenB, StatusFlagPositionErrorLimitExceededB, StatusFlagMaxVelocityExceededB, StatusFlagBatteryEmptyB, StatusFlagBatteryTemperatureOutOfRangeB, StatusFlagRollAngleLimitExceededB, StatusFlagLowBatteryBusVoltageB }; std::string toString(StatusFlag s); } #endif

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