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humanoides
darwin
darwin_robot_driver
Commits
558f98e2
Commit
558f98e2
authored
5 years ago
by
Sergi Hernandez
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Updated the darwin registers with the head tracking, joints and walk motion modules.
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0ce599bd
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include/darwin_registers.h
+63
-16
63 additions, 16 deletions
include/darwin_registers.h
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16 deletions
include/darwin_registers.h
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558f98e2
...
...
@@ -25,13 +25,66 @@
#define MMANAGER_ODD_SER_MOD 0x07
#define MMANAGER_CURRENT_ANGLE 158
#define ACTION_CONTROL 22
2
#define ACTION_CONTROL 22
4
#define ACTION_START 0x01
#define ACTION_STOP 0x02
#define ACTION_STATUS 0x80
#define ACTION_PAGE_ID 22
3
#define ACTION_PAGE_ID 22
5
#define IMU_CONTROL_OFFSET 224// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
#define BALANCE_CONTROL_OFFSET 226// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// standing | bwd fall | fwd fall | | | | | enable
#define BALANCE_ENABLE 0x01
#define BALANCE_STANDING 0x80
#define BALANCE_BWD_FALL 0x40
#define BALANCE_FWD_FALL 0x20
#define JOINT_MOTION_GROUP_CONTROL 227// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// running | | | | | | stop | start
#define JOINT_MOTION_START 0x01
#define JOINT_MOTION_STOP 0x02
#define JOINT_MOTION_RUNNING 0x80
#define JOINT_MOTION_GROUP_SERVOS 231
#define JOINT_MOTION_GROUP_ANGLES 247
#define JOINT_MOTION_GROUP_SPEEDS 311
#define JOINT_MOTION_GROUP_ACCELS 343
#define HEAD_TRACKING_CONTROL 375// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | tracking | | | stop tracking | start tracking
#define HEAD_TRACKING_START 0x01
#define HEAD_TRACKING_STOP 0x02
#define HEAD_TRACKING_RUNNING 0x10
#define HEAD_TRACKING_MAX_PAN 376
#define HEAD_TRACKING_MIN_PAN 378
#define HEAD_TRACKING_TARGET_PAN 380
#define HEAD_TRACKING_MAX_TILT 382
#define HEAD_TRACKING_MIN_TILT 384
#define HEAD_TRACKING_TARGET_TILT 386
#define HEAD_TRACKING_PAN_P_GAIN 50
#define HEAD_TRACKING_PAN_I_GAIN 52
#define HEAD_TRACKING_PAN_D_GAIN 54
#define HEAD_TRACKING_PAN_I_CLAMP 56
#define HEAD_TRACKING_TILT_P_GAIN 58
#define HEAD_TRACKING_TILT_I_GAIN 60
#define HEAD_TRACKING_TILT_D_GAIN 62
#define HEAD_TRACKING_TILT_I_CLAMP 64
#define HEAD_TRACKING_PAN_SERVO_ID 66
#define HEAD_TRACKING_TILT_SERVO_ID 68
#define WALK_CONTROL 388// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current phase walking stop walking start walking
#define WALK_START 0x01
#define WALK_STOP 0x02
#define WALK_RUNNING 0x10
#define WALK_CURRENT_PHASE 0xC0
#define WALK_STEP_FW_BW 389
#define WALK_STEP_LEFT_RIGHT 390
#define WALK_STEP_DIRECTION 301
#define IMU_CONTROL_OFFSET 392// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// accel_det | gyro_det | calibrating | running | | start_cal | stop | start
#define IMU_START 0x01
#define IMU_STOP 0x02
...
...
@@ -40,24 +93,18 @@
#define IMU_CALIBRATING 0x20
#define IMU_ACCEL_DET 0x40
#define IMU_GYRO_DET 0x80
#define IMU_CAL_SAMPLES_OFFSET
225
#define IMU_GYRO_X_OFFSET
227
#define IMU_GYRO_Y_OFFSET
229
#define IMU_GYRO_Z_OFFSET
231
#define IMU_ACCEL_X_OFFSET
233
#define IMU_ACCEL_Y_OFFSET
235
#define IMU_ACCEL_Z_OFFSET
237
#define IMU_CAL_SAMPLES_OFFSET
393
#define IMU_GYRO_X_OFFSET
395
#define IMU_GYRO_Y_OFFSET
397
#define IMU_GYRO_Z_OFFSET
399
#define IMU_ACCEL_X_OFFSET
401
#define IMU_ACCEL_Y_OFFSET
403
#define IMU_ACCEL_Z_OFFSET
405
#define BALANCE_KNEE_GAIN_OFFSET 7
#define BALANCE_ANKLE_ROLL_GAIN_OFFSET 9
#define BALANCE_ANKLE_PITCH_GAIN_OFFSET 11
#define BALANCE_HIP_ROLL_GAIN_OFFSET 13
#define BALANCE_CONTROL_OFFSET 239// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// standing | bwd fall | fwd fall | | | | | enable
#define BALANCE_ENABLE 0x01
#define BALANCE_STANDING 0x80
#define BALANCE_BWD_FALL 0x40
#define BALANCE_FWD_FALL 0x20
#endif
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