Robot Simulator of the Robotics Group for Self-Organization of Control: amosiisensormotordefinition.h Source File

# amosiisensormotordefinition.h

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    00001 /*
    00002  * amosiisensormotordefinition.h
    00003  *
    00004  *  Created on: May 2, 2011
    00005  *      Author: poramate
    00006  *
    00007  *  Small adaptations and moved to oderobots/selforg/wirings
    00008  *      by fhesse
    00009  */
    00010
    00011 #ifndef AMOSIISENSORMOTORDEFINITION_H_
    00012 #define AMOSIISENSORMOTORDEFINITION_H_
    00013
    00014         enum AmosIISensorNames{
    00015
    00016           // Angle sensors
    00017           TR0_as=0, //Thoracic joint of right front leg
    00018           TR1_as=1, //Thoracic joint of right middle leg
    00019           TR2_as=2, //Thoracic joint of right hind leg
    00020
    00021           TL0_as=3, //Thoracic joint of left front leg
    00022           TL1_as=4, //Thoracic joint of left middle leg
    00023           TL2_as=5, //Thoracic joint of left hind leg
    00024
    00025           CR0_as=6, //Coxa joint of right front leg
    00026           CR1_as=7, //Coxa joint of right middle leg
    00027           CR2_as=8, //Coxa joint of right hind leg
    00028
    00029           CL0_as=9,  //Coxa joint of left hind leg
    00030           CL1_as=10, //Coxa joint of left hind leg
    00031           CL2_as=11, //Coxa joint of left hind leg
    00032
    00033           FR0_as=12, //Fibula joint of right front leg
    00034           FR1_as=13, //Fibula joint of right middle leg
    00035           FR2_as=14, //Fibula joint of right hind leg
    00036
    00037           FL0_as=15, //Fibula joint of left front leg
    00038           FL1_as=16, //Fibula joint of left middle leg
    00039           FL2_as=17, //Fibula joint of left hind leg
    00040
    00041           BJ_as= 18, //Backbone joint angle
    00042
    00043           //Foot contact sensors
    00044           R0_fs= 19, //Right front foot
    00045           R1_fs= 20, //Right middle foot
    00046           R2_fs= 21, //Right hind foot
    00047           L0_fs= 22, //Left front foot
    00048           L1_fs= 23, //Left middle foot
    00049           L2_fs= 24, //Left hind foot
    00050
    00051           FR_us=25, // US sensors = Front Ultrasonic sensors (right and left)
    00052           FL_us=26,
    00053
    00054           R0_irs=31, // IR sensors = IR sensors at legs
    00055           R1_irs=29,
    00056           R2_irs=27,
    00057           L0_irs=32,
    00058           L1_irs=30,
    00059           L2_irs=28,
    00060
    00061           R0_us= 33, // Reflex ultrasonic sensors at front, middle and rear legs
    00062           R1_us= 34,
    00063           L0_us= 35,
    00064           L1_us= 36,
    00065
    00066           TR0_ts=37, // Torque sensors, used as Current sensors at each motor
    00067           TR1_ts=38,
    00068           TR2_ts=39,
    00069
    00070           TL0_ts=40,
    00071           TL1_ts=41,
    00072           TL2_ts=42,
    00073
    00074           CR0_ts=43,
    00075           CR1_ts=44,
    00076           CR2_ts=45,
    00077
    00078           CL0_ts=46,
    00079           CL1_ts=47,
    00080           CL2_ts=48,
    00081
    00082           FR0_ts=49,
    00083           FR1_ts=50,
    00084           FR2_ts=51,
    00085
    00086           FL0_ts=52,
    00087           FL1_ts=53,
    00088           FL2_ts=54,
    00089
    00090           BJ_ts= 55,
    00091
    00092           BX_acs= 56, // 3D Accelerometer (x,y,z) at body
    00093           BY_acs= 57,
    00094           BZ_acs= 58,
    00095
    00096           L_ps = 59,  //photo (light) sensors Left, Middle and Right
    00097           M_ps = 60,
    00098           R_ps = 61,
    00099
    00100           G0x_s=62, // goal orientation sensors (relative position to reference object 1, e.g. camera)
    00101           G0y_s=63,
    00102           G0z_s=64,
    00103
    00104           A_cs = 65, //average current sensor
    00105
    00106           BX_spd= 66, //Body speed sensors
    00107           BY_spd= 67,
    00108           BZ_spd= 68,
    00109
    00110           //---Adding more sensors**
    00111           G0angleroll_s=69, // goal orientation sensors (relative angle to reference object 1, e.g. camera)
    00112           G0anglepitch_s=70,
    00113           G0angleyaw_s=71,
    00114
    00115           G1x_s=72, // goal orientation sensors (relative position to reference object 2, e.g. camera)
    00116           G1y_s=73,
    00117           G1z_s=74,
    00118
    00119           G1angleroll_s=75, // goal orientation sensors (relative angle to reference object 2, e.g. camera)
    00120           G1anglepitch_s=76,
    00121           G1angleyaw_s=77,
    00122
    00123           G2x_s=78, // goal orientation sensors (relative position to reference object 3, e.g. camera)
    00124           G2y_s=79,
    00125           G2z_s=80,
    00126
    00127           G2angleroll_s=81, // goal orientation sensors (relative angle to reference object 3, e.g. camera)
    00128           G2anglepitch_s=82,
    00129           G2angleyaw_s=83,
    00130
    00131           Laserx_s = 84,
    00132           Lasery_s = 85,
    00133           Laserz_s = 86,
    00134
    00135           Poti_s = 87,
    00136
    00137           Compassx_s = 88,
    00138           Compassy_s = 89,
    00139
    00140           R0X_acs= 90, // 3D Accelerometer (x,y,z) at RO
    00141           R0Y_acs= 91,
    00142           R0Z_acs= 92,
    00143
    00144           R1X_acs= 93, // 3D Accelerometer (x,y,z) at R1
    00145           R1Y_acs= 94,
    00146           R1Z_acs= 95,
    00147
    00148           R2X_acs= 96, // 3D Accelerometer (x,y,z) at R2
    00149           R2Y_acs= 97,
    00150           R2Z_acs= 98,
    00151
    00152           L0X_acs= 99, // 3D Accelerometer (x,y,z) at L0
    00153           L0Y_acs= 100,
    00154           L0Z_acs= 101,
    00155
    00156           L1X_acs= 102, // 3D Accelerometer (x,y,z) at L1
    00157           L1Y_acs= 103,
    00158           L1Z_acs= 104,
    00159
    00160           L2X_acs= 105, // 3D Accelerometer (x,y,z) at L2
    00161           L2Y_acs= 106,
    00162           L2Z_acs= 107,
    00163
    00164           Microphone0_s= 108, // Microphone 0
    00165           Microphone1_s= 109, // Microphone 1
    00166           Microphone2_s= 110, // Microphone 2
    00167
    00168           //Changing according to the maximum sensor number
    00169           AMOSII_SENSOR_MAX = 111,
    00170   };
    00171
    00172
    00173
    00174   enum AmosIIMotorNames{
    00175         TR0_m = 0,
    00176         TR1_m = 1,
    00177         TR2_m = 2,// Upward (+), Downward (-)
    00178         TL0_m = 3,
    00179         TL1_m = 4,
    00180         TL2_m = 5,
    00181
    00182         CR0_m = 6,
    00183         CR1_m = 7,
    00184         CR2_m = 8,// Upward (+), Downward (-)
    00185         CL0_m = 9,
    00186         CL1_m = 10,
    00187         CL2_m = 11,
    00188
    00189         FR0_m = 12,
    00190         FR1_m = 13,
    00191         FR2_m = 14, // Upward (+), Downward (-)
    00192         FL0_m = 15,
    00193         FL1_m = 16,
    00194         FL2_m = 17,
    00195
    00196         BJ_m = 18,  // Upward (+), Downward (-)
    00197
    00198         //Changing according to the maximum motor number
    00199         AMOSII_MOTOR_MAX = 19,
    00200
    00201
    00202
    00203   };
    00204
    00205 #endif /* AMOSIISENSORMOTORDEFINITION_H_ */