Dynamixel manager

include/darwin_registers.h

@@ -86,6 +86,24 @@ extern "C" {
 #define GRIPPER_RIGHT_MIN_ANGLE         ((unsigned short int)0x0060)
 #define GRIPPER_RIGHT_MAX_FORCE         ((unsigned short int)0x0062)
 #define SMART_CHARGER_PERIOD            ((unsigned short int)0x0064)
+#define STAIRS_PHASE1_TIME              ((unsigned short int)0x0066)
+#define STAIRS_PHASE2_TIME              ((unsigned short int)0x0068)
+#define STAIRS_PHASE3_TIME              ((unsigned short int)0x006A)
+#define STAIRS_PHASE4_TIME              ((unsigned short int)0x006C)
+#define STAIRS_PHASE5_TIME              ((unsigned short int)0x006E)
+#define STAIRS_PHASE6_TIME              ((unsigned short int)0x0070)
+#define STAIRS_PHASE7_TIME              ((unsigned short int)0x0072)
+#define STAIRS_PHASE8_TIME              ((unsigned short int)0x0074)
+#define STAIRS_PHASE9_TIME              ((unsigned short int)0x0076)
+#define STAIRS_X_OFFSET                 ((unsigned short int)0x0078)
+#define STAIRS_Y_OFFSET                 ((unsigned short int)0x0079)
+#define STAIRS_Z_OFFSET                 ((unsigned short int)0x007A)
+#define STAIRS_Y_SHIFT                  ((unsigned short int)0x007B)
+#define STAIRS_X_LEFT_SHIFT             ((unsigned short int)0x007C)
+#define STAIRS_X_RIGHT_SHIFT            ((unsigned short int)0x007D)
+#define STAIRS_Z_OVERSHOOT              ((unsigned short int)0x007E)
+#define STAIRS_Z_HEIGHT                 ((unsigned short int)0x007F)
+#define STAIRS_HIP_PITCH_OFF            ((unsigned short int)0x0080)
 
 #define LAST_EEPROM_OFFSET              ((unsigned short int)0x00FF)
 
@@ -192,6 +210,34 @@ typedef enum {
   DARWIN_GRIPPER_RIGHT_MAX_FORCE_H     = GRIPPER_RIGHT_MAX_FORCE+1,
   DARWIN_SMART_CHARGER_PERIOD_L        = SMART_CHARGER_PERIOD, //en ms
   DARWIN_SMART_CHARGER_PERIOD_H        = SMART_CHARGER_PERIOD+1,
+  DARWIN_STAIRS_PHASE1_TIME_L          = STAIRS_PHASE1_TIME,
+  DARWIN_STAIRS_PHASE1_TIME_H          = STAIRS_PHASE1_TIME+1,
+  DARWIN_STAIRS_PHASE2_TIME_L          = STAIRS_PHASE2_TIME,  
+  DARWIN_STAIRS_PHASE2_TIME_H          = STAIRS_PHASE2_TIME+1,  
+  DARWIN_STAIRS_PHASE3_TIME_L          = STAIRS_PHASE3_TIME,
+  DARWIN_STAIRS_PHASE3_TIME_H          = STAIRS_PHASE3_TIME+1,
+  DARWIN_STAIRS_PHASE4_TIME_L          = STAIRS_PHASE4_TIME,
+  DARWIN_STAIRS_PHASE4_TIME_H          = STAIRS_PHASE4_TIME+1,
+  DARWIN_STAIRS_PHASE5_TIME_L          = STAIRS_PHASE5_TIME,
+  DARWIN_STAIRS_PHASE5_TIME_H          = STAIRS_PHASE5_TIME+1,
+  DARWIN_STAIRS_PHASE6_TIME_L          = STAIRS_PHASE6_TIME,
+  DARWIN_STAIRS_PHASE6_TIME_H          = STAIRS_PHASE6_TIME+1,
+  DARWIN_STAIRS_PHASE7_TIME_L          = STAIRS_PHASE7_TIME,
+  DARWIN_STAIRS_PHASE7_TIME_H          = STAIRS_PHASE7_TIME+1,
+  DARWIN_STAIRS_PHASE8_TIME_L          = STAIRS_PHASE8_TIME,
+  DARWIN_STAIRS_PHASE8_TIME_H          = STAIRS_PHASE8_TIME+1,
+  DARWIN_STAIRS_PHASE9_TIME_L          = STAIRS_PHASE9_TIME,
+  DARWIN_STAIRS_PHASE9_TIME_H          = STAIRS_PHASE9_TIME+1,
+  DARWIN_STAIRS_X_OFFSET               = STAIRS_X_OFFSET, 
+  DARWIN_STAIRS_Y_OFFSET               = STAIRS_Y_OFFSET,
+  DARWIN_STAIRS_Z_OFFSET               = STAIRS_Z_OFFSET,
+  DARWIN_STAIRS_Y_SHIFT                = STAIRS_Y_SHIFT,
+  DARWIN_STAIRS_X_LEFT_SHIFT           = STAIRS_X_LEFT_SHIFT,
+  DARWIN_STAIRS_X_RIGHT_SHIFT          = STAIRS_X_RIGHT_SHIFT,
+  DARWIN_STAIRS_Z_OVERSHOOT            = STAIRS_Z_OVERSHOOT,
+  DARWIN_STAIRS_Z_HEIGHT               = STAIRS_Z_HEIGHT,
+  DARWIN_STAIRS_HIP_PITCH_OFF          = STAIRS_HIP_PITCH_OFF,
+
 //RAM  
   DARWIN_TX_LED_CNTRL              = 0x0100, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2  | bit 1 |      bit 0
                                              //       |       |       |       | blink | toggle | value | internally used
@@ -582,6 +628,8 @@ typedef enum {
                                                    //                                               |  detected  |  enable    
   DARWIN_GRIPPER_CNTRL                   = 0x0251  //    bit 7    |     bit 6    |    bit 5    |     bit 4    |    bit 3   |    bit 2   |    bit 1    |   bit 0
                                                    // left opened | right opened | left moving | right moving | close left | open left  | close right | open right 
+  DARWIN_STAIRS_CNTRL                    = 0x0252, // bit 7 | bit 6 | bit 5 |   bit 4  | bit 3 | bit 2 |     bit 1    |    bit 0
+                                                   // current phase         | climbing |       |       | stop stairs  | start stairs
 }darwin_registers;
 
 #define      GPIO_BASE_ADDRESS       0x0100