+++ /dev/null
-/*
- * Copyright Droids Corporation (2009)
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- * Revision : $Id: arm_xy.h,v 1.4 2009-11-08 17:25:00 zer0 Exp $
- *
- * Fabrice DESCLAUX <serpilliere@droids-corp.org>
- * Olivier MATZ <zer0@droids-corp.org>
- */
-
-/* all static configuration for an arm */
-struct arm_config {
- void (*wrist_angle_deg2robot)(double wrist_edg,
- double *wrist_out);
-
- void (*angle_rad2robot)(double shoulder_deg, double elbow_deg,
- double *shoulder_out, double *elbow_out);
-
- void (*angle_robot2rad)(double shoulder_robot, double elbow_robot,
- double *shoulder_rad, double *elbow_rad);
-
- /* ax12 identifiers */
- int8_t elbow_ax12;
- int8_t wrist_ax12;
-
- /* related control system */
- struct cs_block *csb;
-
- /* if true, don't apply to ax12 / cs */
- uint8_t simulate;
-};
-
-/* request for a final position, in mm */
-struct arm_request {
- int32_t h_mm;
- int32_t d_mm;
- int32_t w_deg;
-};
-
-/* returned by arm_test_traj_end() */
-#define ARM_TRAJ_END 0x01
-#define ARM_TRAJ_NEAR 0x02
-#define ARM_TRAJ_TIMEOUT 0x04
-#define ARM_TRAJ_ERROR 0x08
-
-#define ARM_TRAJ_ALL (ARM_TRAJ_END|ARM_TRAJ_TIMEOUT|ARM_TRAJ_ERROR)
-#define ARM_TRAJ_ALL_NEAR (ARM_TRAJ_END|ARM_TRAJ_NEAR|ARM_TRAJ_TIMEOUT|ARM_TRAJ_ERROR)
-#define ARM_TRAJ_END_NEAR (ARM_TRAJ_END|ARM_TRAJ_NEAR)
-
-#define ARM_STATE_INIT 0
-#define ARM_FLAG_MOVING 0x01 /* arm is currently moving */
-#define ARM_FLAG_LAST_STEP 0x02 /* no more step is needed */
-#define ARM_FLAG_IN_WINDOW 0x04 /* arm speed and pos are ok */
-#define ARM_FLAG_TIMEOUT 0x08 /* too much time too reach pos */
-#define ARM_FLAG_ERROR 0x10 /* error */
-#define ARM_FLAG_FINISHED (ARM_FLAG_LAST_STEP | ARM_FLAG_IN_WINDOW)
-
-/* Describes the current position of the arm. Mainly filled by
- * arm_do_step(), arm_set_wrist(), arm_do_xy_cb(), ... */
-struct arm_status {
- /* current position */
- int32_t h_mm;
- int32_t d_mm;
-
- /* wrist goal position (set once at init) */
- int16_t wrist_angle_steps;
-
- /* current angles in steps */
- int32_t elbow_angle_steps;
- int32_t shoulder_angle_steps;
-
- /* current angles in radian */
- double elbow_angle_rad;
- double shoulder_angle_rad;
-
- /* time before next update */
- uint32_t next_update_time;
-
- /* what speed to be applied, in specific speed unit */
- uint32_t shoulder_speed;
- uint32_t elbow_speed;
-
- volatile int8_t state; /* see list of flags above */
- int8_t event; /* scheduler event, -1 if not running */
-
- microseconds start_time; /* when we started that command */
- microseconds wrist_reach_time; /* when the wrist should reach dest */
- microseconds pos_reached_time; /* when last step is sent */
-};
-
-struct arm {
- struct arm_config config;
- struct arm_status status;
- struct arm_request req;
-};
-
-extern struct arm left_arm;
-extern struct arm right_arm;
-
-uint8_t arm_test_traj_end(struct arm *arm, uint8_t mask);
-uint8_t arm_wait_traj_end(struct arm *arm, uint8_t mask);
-
-/* do a specific move to distance, height. This function _must_ be
- * called from a context with a prio < ARM_PRIO to avoid any race
- * condition. */
-int8_t arm_do_xy(struct arm *arm, int16_t d_mm, int16_t h_mm, int16_t w_deg);
-
-void arm_dump(struct arm *arm);
-void arm_calibrate(void);
-void arm_init(void);
git.droids-corp.org / aversive.git / blobdiff