RobotParams.h File Reference

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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 }

Variables
const double	Q_MIN_MAX [12]

Macro Definition Documentation

#define ANKLE_MOTOR_DEG1   (90)

Definition at line 64 of file RobotParams.h.

#define ANKLE_MOTOR_DEG2   (115)

Definition at line 66 of file RobotParams.h.

#define ANKLE_MOTOR_POS1   (0)

Definition at line 63 of file RobotParams.h.

#define ANKLE_MOTOR_POS2   (-800000)

Definition at line 65 of file RobotParams.h.

#define deg2rad

(

deg

)

((deg)*M_PI / 180.0)

Definition at line 18 of file RobotParams.h.

#define HIP_MOTOR_DEG1   (90)

Definition at line 59 of file RobotParams.h.

#define HIP_MOTOR_DEG2   (180)

Definition at line 61 of file RobotParams.h.

#define HIP_MOTOR_POS1   (250880)

Definition at line 58 of file RobotParams.h.

#define HIP_MOTOR_POS2   (0)

Definition at line 60 of file RobotParams.h.

#define KNEE_MOTOR_DEG1   (90)

Definition at line 54 of file RobotParams.h.

#define KNEE_MOTOR_DEG2   (0)

Definition at line 56 of file RobotParams.h.

#define KNEE_MOTOR_POS1   (250880)

Definition at line 53 of file RobotParams.h.

#define KNEE_MOTOR_POS2   (0)

Definition at line 55 of file RobotParams.h.

#define NUM_JOINTS   6

Specific paramaters and naming definitions for exoskeleton robot class implementetion.

Version 0.1 Date: 07/04/2020

Definition at line 13 of file RobotParams.h.

#define rad2deg

(

rad

)

((rad)*180.0 / M_PI)

Definition at line 19 of file RobotParams.h.

Enumeration Type Documentation

enum robotJoints

Enumerator
LEFT_HIP
LEFT_KNEE
RIGHT_HIP
RIGHT_KNEE
LEFT_ANKLE
RIGHT_ANKLE

Definition at line 21 of file RobotParams.h.

enum RobotMode

strong

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

Definition at line 30 of file RobotParams.h.

Variable Documentation

const double Q_MIN_MAX[12]

Initial value:

{deg2rad(70), deg2rad(210),
                           0, deg2rad(120),
                           deg2rad(70), deg2rad(210),
                           0, deg2rad(120),
                           deg2rad(75), deg2rad(105),
                           deg2rad(75), deg2rad(105)}

Definition at line 44 of file RobotParams.h.