173 lines
10 KiB
C++
173 lines
10 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARCOMMANDS_H
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#define ARCOMMANDS_H
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/// A class containing names for most robot microcontroller system commands
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/**
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A class with an enum of the commands that can be sent to the robot, see the
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robot operations manual for more detailed descriptions.
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@ingroup OptionalClasses
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*/
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class ArCommands
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{
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public:
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enum Commands {
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PULSE = 0, ///< none, keep alive command, so watchdog doesn't trigger
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OPEN = 1, ///< none, sent after connection to initiate connection
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CLOSE = 2, ///< none, sent to close the connection to the robot
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POLLING = 3, ///< string, string that sets sonar polling sequence
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ENABLE = 4, ///< int, enable (1) or disable (0) motors
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SETA = 5, ///< int, sets translational accel (+) or decel (-) (mm/sec/sec)
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SETV = 6, ///< int, sets maximum velocity (mm/sec)
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SETO = 7, ///< int, resets robots origin back to 0, 0, 0
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MOVE = 8, ///< int, translational move (mm)
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ROTATE = 9, ///< int, set rotational velocity, duplicate of RVEL (deg/sec)
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SETRV = 10, ///< int, sets the maximum rotational velocity (deg/sec)
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VEL = 11, ///< int, set the translational velocity (mm/sec)
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HEAD = 12, ///< int, turn to absolute heading 0-359 (degrees)
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DHEAD = 13, ///< int, turn relative to current heading (degrees)
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//DROTATE = 14, does not really exist
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SAY = 15, /**< string, makes the robot beep.
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up to 20 pairs of duration (20 ms incrs) and tones (halfcycle) */
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JOYINFO = 17, // int, requests joystick packet, 0 to stop, 1 for 1, 2 for continuous
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CONFIG = 18, ///< int, request configuration packet
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ENCODER = 19, ///< int, > 0 to request continous stream of packets, 0 to stop
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SETRVDIR = 20, ///< int, Sets the rot vel max in each direction
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RVEL = 21, ///< int, set rotational velocity (deg/sec)
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DCHEAD = 22, ///< int, colbert relative heading setpoint (degrees)
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SETRA = 23, ///< int, sets rotational accel(+) or decel(-) (deg/sec)
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SONAR = 28, ///< int, enable (1) or disable (0) sonar
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STOP = 29, ///< int, stops the robot
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DIGOUT = 30, ///< int, sets the digout lines
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//TIMER = 31, ... no clue about this one
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VEL2 = 32, /**< int, independent wheel velocities,
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first 8 bits = right, second 8 bits = left, multiplied by Vel2 divisor. See manual. */
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GRIPPER = 33, ///< int, gripper server command, see gripper manual for detail
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//KICK = 34, um...
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ADSEL = 35, ///< int, select the port given as argument
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GRIPPERVAL = 36, ///< p2 gripper server value, see gripper manual for details
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GRIPPERPACREQUEST = 37, ///< p2 gripper packet request
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IOREQUEST = 40, ///< request iopackets from p2os
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PTUPOS = 41, ///< most-sig byte is port number, least-sig byte is pulse width
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TTY2 = 42, ///< string, send string argument to serial dev connected to aux1
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GETAUX = 43, ///< int, requests 1-200 bytes from aux1 serial channel, 0 flush
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BUMPSTALL = 44, /**< int, stop and register a stall if front (1), rear (2),
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or both (3) bump rings are triggered, Off (default) is 0 */
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TCM2 = 45, ///< TCM2 module commands, see tcm2 manual for details
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JOYDRIVE = 47, /**< Command to tell p2os to drive with the joystick
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plugged into the robot */
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MOVINGBLINK = 49, ///< int, 1 to blink lamp quickly before moving, 0 not to (for patrolbot)
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HOSTBAUD = 50, ///< int, set baud rate for host port - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200
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AUX1BAUD = 51, ///< int, set baud rate for Aux1 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200
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AUX2BAUD = 52, ///< int, set baud rate for Aux2 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200
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ESTOP = 55, ///< none, emergency stop, overrides decel
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ESTALL = 56, // ?
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GYRO = 58, ///< int, set to 1 to enable gyro packets, 0 to disable
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TTY4 = 60,
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GETAUX3 = 61,
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BATTERYINFO = 62, ///< int, requests battery info packets, 0 to stop, 1 for 1, 2 for continuous
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TTY3 = 66,
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GETAUX2 = 67,
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BATTEST = 250,
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// SRISIM specific:
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LOADPARAM = 61, ///< @deprecated only supported by SRISim. Conflicts with GETAUX3
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OLDSIM_LOADPARAM = 61, ///< @deprecated only supported by SRISim. Conflicts with GETAUX3
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ENDSIM = 62, ///< @deprecated use SIM_EXIT
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OLDSIM_EXIT = 62, ///< @deprecated use SIM_EXIT
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LOADWORLD = 63, ///< @deprecated only supported by SRISim
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OLDSIM_LOADWORLD = 63, ///< @deprecated only supported by SRISim
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STEP = 64, ///< @deprecated only supported by SRISim
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OLDSIM_STEP = 64, ///< @deprecated only supported by SRISim
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// for calibrating the compass:
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CALCOMP = 65, ///< int, commands for calibrating compass, see compass manual
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// SRISIM specific:
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// SETORIGINX and SETORIGINY overlap with TTY3 and GETAUX2 so they are disabled:
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//SETSIMORIGINX = 66,
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//SETSIMORIGINY = 67,
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//OLDSIM_SETORIGINX = 66,
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//OLDSIM_SETORIGINY = 67,
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SETSIMORIGINTH = 68, ///< @deprecated use SIM_SET_POSE
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OLDSIM_SETORIGINTH = 68, ///< @deprecated use SIM_SET_POSE
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RESETSIMTOORIGIN = 69, ///< @deprecated use SIM_RESET
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OLDSIM_RESETTOORIGIN = 69, ///< @deprecated use SIM_RESET
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// AmigoBot-H8 specific:
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SOUND = 90, ///< int, AmigoBot (old H8 model) specific, plays sound with given number
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PLAYLIST = 91, /**< int, AmigoBot (old H8 model) specific, requests name of sound,
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0 for all, otherwise for specific sound */
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SOUNDTOG = 92, ///< int, AmigoBot (old H8 model) specific, enable(1) or diable(0) sound
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// Power commands
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POWER_PC = 95, ///< int, Powers on or off the PC (if the firwmare is set up to do this in its power settings)
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POWER_LRF = 96, ///< int, Powers on or off the laser (if the firwmare is set up to do this in its power settings)
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POWER_5V = 97, ///< int, Powers on or off the 5v accessories (if the firwmare is set up to do this in its power settings)
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POWER_12V = 98, ///< int, Powers on or off the 12v accessories (if the firwmare is set up to do this in its power settings)
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POWER_24V = 98, ///< int, Powers on or off the 24v accessories (if the firwmare is set up to do this in its power settings)
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POWER_AUX_PC = 125, ///< int, Powers on or off the auxilliary PC (if the firwmare is set up to do this in its power settings)
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POWER_TOUCHSCREEN = 126, ///< int, Powers on or off the touchscreen (if the firwmare is set up to do this in its power settings)
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POWER_PTZ = 127, ///< int, Powers on or off the PTZ (if the firwmare is set up to do this in its power settings)
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POWER_AUDIO = 128, ///< int, Powers on or off the audio (if the firwmare is set up to do this in its power settings)
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POWER_LRF2 = 129, ///< int, Powers on or off the second laser (if the firwmare is set up to do this in its power settings)
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// For SEEKUR or later lateral-capable robots
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LATVEL = 110, ///< int, sets the lateral velocity (mm)
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LATACCEL = 113, ///< int, sets the lateral acceleration (+, mm/sec2) or lateral deceleration (-, mm/sec2)
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SETLATV = 0, /// set max. lat. vel. (not available yet)
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// MTX commands
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SRECORD = 210, /// < int, (for downloading MTX firmware) byte with 0 for wait, 1 for OK, -1 for ERROR (waiting might take 3-5 seconds
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MARCDEBUG = 211, ///< for debug messages from MARC, possibly responses, possibly pushed... they are ascii strings that should be logged
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WHEEL_LIGHT = 212, ///< For the wheel lights
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ABSOLUTE_MAXES = 213, ///< To set the absolute maxes
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SAFETY_STATE_INFO = 214, ///< int, request safety state info packets (0 == stop, 1 == send once, 2 == send continuous),
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SAFETY_SET_STATE = 215, ///< 2 bytes, first byte which system, second byte for value
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SAFETY_DISABLE_POWER_OFF_TIMER = 216, ///< int, 0 set off, 1 set on
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// MobileSim specific:
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SIM_SET_POSE = 224, ///< int4,int4,int4 Move robot to global pose in simulator (does not change odometry). Each value is a 4-byte integer.
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SIM_RESET= 225, ///< none, Reset robot's state to original in simulator and reset odometry to 0,0,0.
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SIM_LRF_ENABLE = 230, ///< int, 1 to begin sending packets of data from a simulated laser rangefinder (on the same socket connection), 2 to send extended-information laser packets (with reading flags), 0 to disable LRF
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SIM_LRF_SET_FOV_START = 231, ///< int Set angle (degrees from center) at which the simulater laser takes its first reading (normally -90).
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SIM_LRF_SET_FOV_END = 232, ///< int Set angle (degrees from center) at which the simulated laser takes its last reading (normally 90).
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SIM_LRF_SET_RES = 233, ///< int Set the number of degrees between laser readings (in combination with FOV, determines the number of readings per sweep) (normally 1)
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SIM_CTRL = 236, ///< int,..., Send a simulator meta-command (an operation on the simulator itself). The initial 2-byte integer argument selects the operation. See simulator documentation.
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SIM_STAT = 237, ///< none, Request that the simulator reply with a SIMSTAT (0x62) packet. You must have a packet handler registered with ArRobot to receive its output. See simulator documentation.
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SIM_MESSAGE = 238, ///< string, Display a log message in the simulator. Argument is a length-prefixed ASCII byte string.
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SIM_EXIT = 239 ///< int, Exit the simulator. Argument is the exit code (use 0 for a "normal" exit).
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};
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};
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#endif // ARCOMMANDS_H
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