RobotParams.h File Reference

Specific paramaters and naming definitions for exoskeleton robot class implementetion. More...

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Macros
#define	NUM_JOINTS   6
#define	deg2rad(deg)   ((deg)*M_PI / 180.0)
#define	rad2deg(rad)   ((rad)*180.0 / M_PI)
#define	KNEE_MOTOR_POS1   (250880)
#define	KNEE_MOTOR_DEG1   (90)
#define	KNEE_MOTOR_POS2   (0)
#define	KNEE_MOTOR_DEG2   (0)
#define	HIP_MOTOR_POS1   (250880)
#define	HIP_MOTOR_DEG1   (90)
#define	HIP_MOTOR_POS2   (0)
#define	HIP_MOTOR_DEG2   (180)
#define	ANKLE_MOTOR_POS1   (0)
#define	ANKLE_MOTOR_DEG1   (90)
#define	ANKLE_MOTOR_POS2   (-800000)
#define	ANKLE_MOTOR_DEG2   (115)

Enumerations
enum	robotJoints {   LEFT_HIP = 0, LEFT_KNEE = 1, RIGHT_HIP = 2, RIGHT_KNEE = 3,   LEFT_ANKLE = 4, RIGHT_ANKLE = 5 }
enum	RobotMode {   RobotMode::NORMALWALK, RobotMode::SITDWN, RobotMode::STNDUP, RobotMode::UPSTAIR,   RobotMode::DWNSTAIR, RobotMode::TILTUP, RobotMode::TILTDWN, RobotMode::BKSTEP,   RobotMode::FTTG, RobotMode::UNEVEN, RobotMode::INITIAL }

Detailed Description

Specific paramaters and naming definitions for exoskeleton robot class implementetion.

Author

William Campbell

Version

0.1

Date

2020-04-09

Version

0.1

Copyright

Copyright (c) 2020

Definition in file RobotParams.h.

Macro Definition Documentation

#define ANKLE_MOTOR_DEG1   (90)

Definition at line 74 of file RobotParams.h.

#define ANKLE_MOTOR_DEG2   (115)

Definition at line 76 of file RobotParams.h.

#define ANKLE_MOTOR_POS1   (0)

Paramater definitions: Ankle motor reading and corresponding angle. Used for mapping between degree and motor values.

Definition at line 73 of file RobotParams.h.

#define ANKLE_MOTOR_POS2   (-800000)

Definition at line 75 of file RobotParams.h.

#define deg2rad

(

deg

)

((deg)*M_PI / 180.0)

Definition at line 21 of file RobotParams.h.

#define HIP_MOTOR_DEG1   (90)

Definition at line 66 of file RobotParams.h.

#define HIP_MOTOR_DEG2   (180)

Definition at line 68 of file RobotParams.h.

#define HIP_MOTOR_POS1   (250880)

Paramater definitions: Hip motor reading and corresponding angle. Used for mapping between degree and motor values.

Definition at line 65 of file RobotParams.h.

#define HIP_MOTOR_POS2   (0)

Definition at line 67 of file RobotParams.h.

#define KNEE_MOTOR_DEG1   (90)

Definition at line 58 of file RobotParams.h.

#define KNEE_MOTOR_DEG2   (0)

Definition at line 60 of file RobotParams.h.

#define KNEE_MOTOR_POS1   (250880)

Paramater definitions: Knee motor reading and corresponding angle. Used for mapping between degree and motor values.

Definition at line 57 of file RobotParams.h.

#define KNEE_MOTOR_POS2   (0)

Definition at line 59 of file RobotParams.h.

#define NUM_JOINTS   6

Definition at line 16 of file RobotParams.h.

#define rad2deg

(

rad

)

((rad)*180.0 / M_PI)

Definition at line 22 of file RobotParams.h.

Enumeration Type Documentation

enum robotJoints

An enum type. Joint Index for the 6 joints (note, NODEID = this + 1)

Enumerator
LEFT_HIP	Left Hip
LEFT_KNEE	Left Knee
RIGHT_HIP	Right Hip
RIGHT_KNEE	Right Knee
LEFT_ANKLE	Left Ankle
RIGHT_ANKLE	Right Knee

Definition at line 28 of file RobotParams.h.

enum RobotMode

strong

An enum class. Different Robot motion profiles

Enumerator
NORMALWALK
SITDWN
STNDUP
UPSTAIR
DWNSTAIR
TILTUP
TILTDWN
BKSTEP
FTTG
UNEVEN
INITIAL

Definition at line 40 of file RobotParams.h.