LoOpenInterface.h

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00001 /**
00002    \file  Robots/LoBot/irccm/LoOpenInterface.h
00003    \brief Definitions for some of the Open Interface stuff used by the
00004    lobot low-level controller.
00005 */
00006 
00007 /*
00008  ************************************************************************
00009  * The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   *
00010  * by the University of Southern California (USC) and the iLab at USC.  *
00011  * See http:  iLab.usc.edu for information about this project.          *
00012  *                                                                      *
00013  * Major portions of the iLab Neuromorphic Vision Toolkit are protected *
00014  * under the U.S. patent ``Computation of Intrinsic Perceptual Saliency *
00015  * in Visual Environments, and Applications'' by Christof Koch and      *
00016  * Laurent Itti, California Institute of Technology, 2001 (patent       *
00017  * pending; application number 09/912,225 filed July 23, 2001; see      *
00018  * http:  pair.uspto.gov/cgi-bin/final/home.pl for current status).     *
00019  ************************************************************************
00020  * This file is part of the iLab Neuromorphic Vision C++ Toolkit.       *
00021  *                                                                      *
00022  * The iLab Neuromorphic Vision C++ Toolkit is free software; you can   *
00023  * redistribute it and/or modify it under the terms of the GNU General  *
00024  * Public License as published by the Free Software Foundation; either  *
00025  * version 2 of the License, or (at your option) any later version.     *
00026  *                                                                      *
00027  * The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  *
00028  * that it will be useful, but WITHOUT ANY WARRANTY; without even the   *
00029  * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      *
00030  * PURPOSE.  See the GNU General Public License for more details.       *
00031  *                                                                      *
00032  * You should have received a copy of the GNU General Public License    *
00033  * along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   *
00034  * to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   *
00035  * Boston, MA 02111-1307 USA.                                           *
00036  ************************************************************************
00037 */
00038 
00039 /*
00040    Primary maintainer for this file: Manu Viswanathan <mviswana at usc dot edu>
00041    $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/LoBot/irccm/LoOpenInterface.h $
00042    $Id: LoOpenInterface.h 12717 2010-01-29 15:01:45Z mviswana $
00043 */
00044 
00045 #ifndef LOBOT_IRCCM_OPEN_INTERFACE_DOT_H
00046 #define LOBOT_IRCCM_OPEN_INTERFACE_DOT_H
00047 
00048 #ifdef __cplusplus
00049 extern "C" {
00050 #endif
00051 
00052 /*----------------------------- CONSTANTS -----------------------------*/
00053 
00054 /// These enumerations are for the different Open Interface commands that
00055 /// the iRobot Create understands.
00056 enum {
00057    /// This command starts the Open Interface. The robot expects to be
00058    /// sent this command before it will start recognizing and responding
00059    /// to any other Open Interface commands.
00060    LOBOT_OI_CMD_START = 128,
00061 
00062    /// This command sets the baud rate at which Open Interface commands
00063    /// and data are sent. It expects a one-byte baud rate code parameter
00064    /// to be sent along with the command.
00065    ///
00066    /// The default baud rate on power up is 57,600 bits per second.
00067    /// However, if the user holds down the Play button while powering on
00068    /// the Create, the baud rate will be set to 19,200 bps.
00069    ///
00070    /// Once the baud rate is set/changed, it remains in effect until the
00071    /// robot is power-cycled or until its battery removed or until the
00072    /// battery voltage drops below the minimum required for processor
00073    /// operation.
00074    ///
00075    /// After sending this command, be sure to wait at least 100ms for the
00076    /// baud rate change to take effect and for subsequent commands and
00077    /// data to be sent at the new baud rate. Moreover, at the maximum
00078    /// supported baud rate of 115,200 bps, be sure to wait at least 200
00079    /// microseconds between consecutive send operations.
00080    ///
00081    /// DEVNOTE: This file defines symbolic constants for the supported
00082    /// baud rate codes and the corresponding values for the baud rate
00083    /// register UBRR0.
00084    LOBOT_OI_CMD_BAUD = 129,
00085 
00086    /// The Create has four operating modes, viz., Off, Passive, Safe and
00087    /// Full.
00088    ///
00089    /// In Passive mode, user programs can request sensor data and have
00090    /// the robot perfom any of its built-in demos, but cannot issue motor
00091    /// or actuator commands. The robot always powers up in Passive mode.
00092    ///
00093    /// In Safe mode, user programs have full control of the robot except
00094    /// when a cliff or wheel drop is detected. When that happens, the
00095    /// robot will immediately shut off its motors and revert to Passive
00096    /// mode. The same thing happens when the robot detects that its
00097    /// charger is plugged in.
00098    ///
00099    /// In Full mode, user programs have full control of the robot and it
00100    /// is up to user programs to detect and respond to cliff, wheel drop
00101    /// and charging events.
00102    //@{
00103    LOBOT_OI_CMD_PASSIVE = LOBOT_OI_CMD_START,
00104    LOBOT_OI_CMD_SAFE    = 131,
00105    LOBOT_OI_CMD_FULL    = 132,
00106    //@}
00107 
00108    /// This command can be used to run one of the built-in demo programs.
00109    /// It expects a one-byte parameter specifying the demo number.
00110    ///
00111    /// NOTE: This command will put the robot into Passive mode.
00112    ///
00113    /// DEVNOTE: This file defines symbolic constants for the demo
00114    /// numbers.
00115    LOBOT_OI_CMD_DEMO = 136,
00116 
00117    /// These commands can be used to run some of the demos directly
00118    /// (i.e., without having to use LOBOT_OI_CMD_DEMO + demo number).
00119    //@{
00120    LOBOT_OI_CMD_DEMO_SPOT  = 134,
00121    LOBOT_OI_CMD_DEMO_COVER = 135,
00122    LOBOT_OI_CMD_DEMO_COVER_AND_DOCK = 143,
00123    //@}
00124 
00125    /// This command controls the Create's drive wheels. It expects four
00126    /// data bytes. The first two data bytes specify the average speed of
00127    /// the drive wheels in mm/s. The next two data bytes specify the turn
00128    /// radius in mm.
00129    ///
00130    /// Both parameters are interpreted as signed 16-bit integers, high
00131    /// byte first. Positive values of the speed parameter result in the
00132    /// Create driving forwards while negative values result in it backing
00133    /// up. Positive values of the turn parameter result in left (ccw)
00134    /// turns and negative turn radii result in right (cw) turns. The turn
00135    /// radius is measured from the center of the robot to the center of
00136    /// the turning circle.
00137    ///
00138    /// The speed parameter must lie in the range [-500, 500] and the turn
00139    /// radius parameter in the range [-2000, 2000]. Larger turn radii
00140    /// result in the Create driving straighter whereas short turn radii
00141    /// cause the Create to execute sharp turns. Special values are used
00142    /// to indicate in-place turns and to drive straight ahead without
00143    /// turning.
00144    ///
00145    /// DEVNOTE: This file defines symbolic constants for the turn radius
00146    /// special cases.
00147    LOBOT_OI_CMD_DRIVE = 137,
00148 
00149    /// This command allows independent control of the two drive wheels.
00150    /// It expects four data bytes. The first two bytes are a signed
00151    /// 16-bit integer (high byte first) specifying the speed (mm/s) for
00152    /// the right wheel and the other two data bytes are the same thing
00153    /// for the left wheel.
00154    ///
00155    /// Positive values for a given parameter will make that wheel drive
00156    /// forwards, negative values will make it go backwards. Both speed
00157    /// parameters must lie in the range [-500, 500].
00158    LOBOT_OI_CMD_DRIVE_DIRECT = 145,
00159 
00160    /// This command controls the LEDs on the Create. It expects three
00161    /// data bytes. The first byte specifies the state of the Play and
00162    /// Advance LEDs. The second byte specifies the color of the Power LED
00163    /// and the third byte specifies the Power LED's intensity.
00164    ///
00165    /// Play and Advance LEDs: bit #1 is for the Play LED and bit #3 is
00166    /// for the Advance LED. If these bits are set to one, the respective
00167    /// LEDs will be on; if they are zero, the LEDs will be off. This file
00168    /// defines appropriate constants and masks for these LEDs.
00169    ///
00170    /// The Power LED: the second and third data bytes for this command
00171    /// are both unsigned numbers in the range [0, 255]. The second byte
00172    /// specifies the Power LED's color, which can glow green (0) to red
00173    /// (255). Intermediate values will result in colors such as orange,
00174    /// yellow, etc.
00175    ///
00176    /// The third byte controls the intensity with which the Power LED
00177    /// should glow. Zero means off, 255 means full intensity;
00178    /// intermediate values result in intermediate intensities.
00179    LOBOT_OI_CMD_LEDS = 139,
00180 
00181    /// This command defines a "song" for the robot to play at some later
00182    /// time. The robot supports up to 16 such songs. Each song can
00183    /// contain up to 16 notes. A note is specified using MIDI note
00184    /// definitions plus a duration specified in fractions of a second.
00185    ///
00186    /// This command expects a series of data bytes. The first byte must
00187    /// specify the song ID (0 to 15) and the second byte specifies the
00188    /// number of notes the song contains (1 to 16). Thereafter, come the
00189    /// notes in byte pairs (first the MIDI note number and the next the
00190    /// duration).
00191    LOBOT_OI_CMD_DEFINE_SONG = 140,
00192 
00193    /// This commands plays a song defined earlier with the SONG command.
00194    /// It expects one data byte, viz., the song number (0 to 15) to play.
00195    ///
00196    /// NOTE: The PLAY_SONG command won't work if another song is
00197    /// currently playing. The "song playing" sensor packet can be used to
00198    /// check whether the Create is ready to accept this command or not.
00199    LOBOT_OI_CMD_PLAY_SONG = 141,
00200 
00201    /// This command requests the robot to send a packet of sensor data
00202    /// bytes. There are 43 differenct snsor data packets. Each such
00203    /// packet provides the value(s) of a specific sensor or group of
00204    /// sensors.
00205    ///
00206    /// The commands expects one data byte, viz., the sensor packet ID.
00207    ///
00208    /// NOTE: Sensor queries should not be sent faster than 67Hz. That is,
00209    /// consecutive sensor queries should be at least 15ms apart.
00210    ///
00211    /// DEVNOTE: This file defines constants for the different sensor
00212    /// packets.
00213    LOBOT_OI_CMD_SENSORS = 142,
00214 
00215    /// This command requests a list of specific sensor packets instead of
00216    /// the predefined groups or single sensor values as in the SENSORS
00217    /// command. The robot returns the sensor packets in the order
00218    /// specified by the command.
00219    ///
00220    /// The command expects a series of data bytes. The first data byte
00221    /// must specify the number of sensor packets being requested. The
00222    /// remaining data bytes specify the desired packet IDs.
00223    ///
00224    /// NOTE: Sensor queries should not be sent faster than 67Hz. That is,
00225    /// consecutive sensor queries should be at least 15ms apart.
00226    ///
00227    /// DEVNOTE: This file defines constants for the different sensor
00228    /// packets.
00229    LOBOT_OI_CMD_QUERY_LIST = 149,
00230 } ;
00231 
00232 /// Enumerations for the supported baud rates. When the BAUD command is
00233 /// issued, the following data byte should be one of these values.
00234 enum {
00235    LOBOT_OI_BAUD_300,
00236    LOBOT_OI_BAUD_600,
00237    LOBOT_OI_BAUD_1200,
00238    LOBOT_OI_BAUD_2400,
00239    LOBOT_OI_BAUD_4800,
00240    LOBOT_OI_BAUD_9600,
00241    LOBOT_OI_BAUD_14400,
00242    LOBOT_OI_BAUD_19200,
00243    LOBOT_OI_BAUD_28800,
00244    LOBOT_OI_BAUD_38400,
00245    LOBOT_OI_BAUD_57600,
00246    LOBOT_OI_BAUD_115200,
00247 } ;
00248 
00249 /// Enumerations for the baud rate register values. When setting up the
00250 /// Open Interface baud rate, the UBRR0 register will have to take on one
00251 /// of these values.
00252 enum {
00253    LOBOT_OI_UBRR_300    = 3839,
00254    LOBOT_OI_UBRR_600    = 1919,
00255    LOBOT_OI_UBRR_1200   = 959,
00256    LOBOT_OI_UBRR_2400   = 479,
00257    LOBOT_OI_UBRR_4800   = 239,
00258    LOBOT_OI_UBRR_9600   = 119,
00259    LOBOT_OI_UBRR_14400  = 79,
00260    LOBOT_OI_UBRR_19200  = 59,
00261    LOBOT_OI_UBRR_28800  = 39,
00262    LOBOT_OI_UBRR_38400  = 29,
00263    LOBOT_OI_UBRR_57600  = 19,
00264    LOBOT_OI_UBRR_115200 = 9,
00265 } ;
00266 
00267 /// These enumerations specify the demo program to be run when the
00268 /// DEMO command is issued.
00269 enum {
00270    /// Abort the demo that Create is currently performing.
00271    LOBOT_OI_DEMO_ABORT = 255,
00272 
00273    /// The Cover demo: Create attempts to cover an entire room using a
00274    /// comination of behaviours such as random bounce, wall following and
00275    /// spiraling.
00276    LOBOT_OI_DEMO_COVER = 0,
00277 
00278    /// The Cover and Dock demo: same as Cover except that if the Create
00279    /// sees an infrared signal from the Home Base, it docks and recharges
00280    /// itself.
00281    LOBOT_OI_DEMO_COVER_AND_DOCK,
00282 
00283    /// The Spot Cover demo: Create covers an around its starting position
00284    /// by spiraling outward and then inward.
00285    LOBOT_OI_DEMO_SPOT,
00286 
00287    /// The Mouse demo: Create locates a wall and then drives along it,
00288    /// traveling around the circumference of the room.
00289    LOBOT_OI_DEMO_MOUSE,
00290 
00291    /// The Figure Eight demo: Create continuously drives in a figure 8
00292    /// pattern.
00293    LOBOT_OI_DEMO_FIGURE_EIGHT,
00294 
00295    /// The Wimp demo: Create drives forward when pushed from behind; if
00296    /// it hits an obstacle, it drives away from the obstacle.
00297    LOBOT_OI_DEMO_WIMP,
00298 
00299    /// The Home demo: Create spins to locate a virtual wall and then
00300    /// drives toward it, stopping when it hits the wall or an obstacle.
00301    LOBOT_OI_DEMO_HOME,
00302 
00303    /// The Tag demo: Create spins to locate a virtual wall, then drives
00304    /// toward it. Upon reaching the virtual wall, it spins to find
00305    /// another virtual wall and drives toward it; so on and so forth,
00306    /// continuously bouncing from one virtual wall to the next.
00307    LOBOT_OI_DEMO_TAG,
00308 
00309    /// The Pachelbel demo: Create plays the notes of Pachelbel's Canon in
00310    /// sequence when cliff sensors are activated.
00311    LOBOT_OI_DEMO_PACHELBEL,
00312 
00313    /// The Banjo demo: Create plays a note for each of its four cliff
00314    /// sensors.
00315    LOBOT_OI_DEMO_BANJO,
00316 } ;
00317 
00318 /// Turn radius special cases.
00319 enum {
00320    LOBOT_OI_DRIVE_STRAIGHT   = 0x8000,
00321    LOBOT_OI_DRIVE_STRAIGHT2  = 0x7FFF,
00322    LOBOT_OI_TURN_INPLACE_CW  = 0xFFFF,
00323    LOBOT_OI_TURN_INPLACE_CCW = 0x0001,
00324 } ;
00325 
00326 /// LED bit masks.
00327 enum {
00328    LOBOT_OI_LED_ADVANCE = 0x08,
00329    LOBOT_OI_LED_PLAY    = 0x02,
00330    LOBOT_OI_LED_BOTH    = 0x0A,
00331 } ;
00332 
00333 /// Enumerations for the different sensor packet IDs.
00334 enum {
00335    /// Sensor group zero returns packets 7 through 26.
00336    LOBOT_OI_SENSOR_GROUP_0,
00337 
00338    /// Sensor group one returns packets 7 through 16.
00339    LOBOT_OI_SENSOR_GROUP_1,
00340 
00341    /// Sensor group two returns packets 17 through 20.
00342    LOBOT_OI_SENSOR_GROUP_2,
00343 
00344    /// Sensor group three returns packets 21 through 26.
00345    LOBOT_OI_SENSOR_GROUP_3,
00346 
00347    /// Sensor group four returns packets 27 through 34.
00348    LOBOT_OI_SENSOR_GROUP_4,
00349 
00350    /// Sensor group five returns packets 35 through 42.
00351    LOBOT_OI_SENSOR_GROUP_5,
00352 
00353    /// Sensor group six returns all sensor packets, i.e., 7 through 42.
00354    LOBOT_OI_SENSOR_GROUP_6,
00355 
00356    /// Packet 7 is for the state of the bump and wheel drop sensors. A
00357    /// single byte is returned for these sensors. Bits 0 and 1 are for
00358    /// the right and left bump sensors respectively; bits 2, 3 and 4 are
00359    /// for the right, left and caster wheel drops respectively.
00360    ///
00361    /// A value of 1 for a bit means that that particular sensor is on;
00362    /// zero means the sensor is off.
00363    ///
00364    /// DEVNOTE: This file defines constants for the bit masks that can be
00365    /// used to examine this sensor packet's data/value byte.
00366    LOBOT_OI_SENSOR_BUMP_DROP,
00367 
00368    /// This packet returns a single byte specifying the state of the wall
00369    /// sensor. A value of 1 means that a wall has been detected; zero
00370    /// means no wall.
00371    LOBOT_OI_SENSOR_WALL,
00372 
00373    /// These packets return single bytes for the states of the cliff
00374    /// sensors. One implies a cliff; zero means no cliff.
00375    //@{
00376    LOBOT_OI_SENSOR_CLIFF_LEFT,
00377    LOBOT_OI_SENSOR_CLIFF_FRONT_LEFT,
00378    LOBOT_OI_SENSOR_CLIFF_FRONT_RIGHT,
00379    LOBOT_OI_SENSOR_CLIFF_RIGHT,
00380    //@}
00381 
00382    /// This packet returns a single byte specifying the state of the
00383    /// virtual wall sensor. A value of 1 means that a virtual wall has
00384    /// been detected; zero means no virtual wall.
00385    ///
00386    /// NOTE: The force field around the IR emitter atop the Home Base
00387    /// also trips this sensor.
00388    LOBOT_OI_SENSOR_VIRTUAL_WALL,
00389 
00390    /// This packet returns a single data byte specifying the value of the
00391    /// IR byte currently being received by the Create. These bytes can be
00392    /// sent by the Roomba Remote, the Home Base or by other Create robots
00393    /// and/or user-created devices.
00394    ///
00395    /// The value of this sensor is an unsigned byte in the range [0, 255].
00396    ///
00397    /// DEVNOTE: This file defines symbolic constants for the byte values
00398    /// that can be sent by the Roomba Remote and the Home Base.
00399    LOBOT_OI_SENSOR_INFRARED_BYTE = 17,
00400 
00401    /// This packet returns an unsigned byte indicating the state of the
00402    /// Create's Play and Advance buttons. Bit #0 specifies the state of
00403    /// the Play button and bit #2 is for the Advance button. When these
00404    /// bits are 1, the buttons are being pressed; zero means the buttons
00405    /// are not being pressed.
00406    ///
00407    /// DEVNOTE: This file defines symbolic constants that can be used as
00408    /// bit masks to ascertain the states of these two buttons using the
00409    /// data byte returned by this sensor packet.
00410    LOBOT_OI_SENSOR_BUTTONS,
00411 
00412    /// This packet returns the distance (in mm) the robot has travelled
00413    /// since the previous query of this sensor. The value is returned as
00414    /// a signed 16-bit integer (high byte first).
00415    ///
00416    /// NOTE: If this value is not polled often enough, it will be capped
00417    /// at its minimum or maximum. Also, if the wheels slip, the actual
00418    /// distance may be different from the one measured by the robot.
00419    LOBOT_OI_SENSOR_DISTANCE,
00420 
00421    /// This packet returns the angle (in degrees) that the robot has
00422    /// turned since the previous query of this sensor. The value is
00423    /// returned as a signed 16-bit integer (high byte first).
00424    ///
00425    /// NOTE: If this value is not polled often enough, it will be capped
00426    /// at its minimum or maximum. Also, if the wheels slip, the actual
00427    /// angle may be different from the one measured by the robot.
00428    LOBOT_OI_SENSOR_ANGLE,
00429 
00430    /// This packet returns the robot's current charging state. The return
00431    /// value is a single unsigned byte containing a code indicating the
00432    /// state.
00433    ///
00434    /// DEVNOTE: This file defines symbolic constants for the charging
00435    /// state.
00436    LOBOT_OI_SENSOR_CHARGING_STATE,
00437 
00438    /// This packet indicates the voltage (in mV) of the robot's battery.
00439    /// It is returned as an unsigned 16-bit number (high byte first).
00440    LOBOT_OI_SENSOR_VOLTAGE,
00441 
00442    /// This packet indicates the current (in mA) flowing into or out of
00443    /// the robot's battery. It is returned as a signed 16-bit number
00444    /// (high byte first). Negative values indicate current flowing out
00445    /// of the battery (as during normal operation) and positive values
00446    /// indicate current flowing into the battery (as during charging).
00447    LOBOT_OI_SENSOR_CURRENT,
00448 
00449    /// This packet returns a single signed data byte indicating the
00450    /// battery temperature (in degrees Celcius).
00451    LOBOT_OI_SENSOR_BATTERY_TEMP,
00452 
00453    /// This packet returns an unsigned 16-bit integer (high byte first)
00454    /// indicating the current charge in the robot's battery (in mAh). The
00455    /// charge value will decrease as the battery is depleted during
00456    /// normal operation and increase when it is being recharged.
00457    LOBOT_OI_SENSOR_BATTERY_CHARGE,
00458 
00459    /// This packet returns an unsigned 16-bit integer (high byte first)
00460    /// indicating the estimated charge capacity in the robot's battery
00461    /// (in mAh).
00462    LOBOT_OI_SENSOR_BATTERY_CAPACITY,
00463 
00464    /// This packet returns the strength of the wall sensor's signal in an
00465    /// unsigned 16-bit integer (high byte first) whose value can range
00466    /// from 0 to 4095.
00467    LOBOT_OI_SENSOR_WALL_SIGNAL,
00468 
00469    /// These packets return the strength of the cliff sensors' signals in
00470    /// unsigned 16-bit integers (high bytes first) whose values are in
00471    /// the range [0, 4095].
00472    //@{
00473    LOBOT_OI_SENSOR_CLIFF_LEFT_SIGNAL,
00474    LOBOT_OI_SENSOR_CLIFF_FRONT_LEFT_SIGNAL,
00475    LOBOT_OI_SENSOR_CLIFF_FRONT_RIGHT_SIGNAL,
00476    LOBOT_OI_SENSOR_CLIFF_RIGHT_SIGNAL,
00477    //@}
00478 
00479    /// This packet returns via an unsigned byte the availability of
00480    /// charging sources. If bit #0 is set, it means that the robot's
00481    /// internal charger is connected to a power supply; zero means this
00482    /// charging source is absent. If bit #1 is on, then the robot is
00483    /// connected to its Home Base; zero means not on the Home Base.
00484    ///
00485    /// DEVNOTE: This file defines appropriate bit mask constants to test
00486    /// this sensor packet's return value.
00487    LOBOT_OI_SENSOR_CHARGING_SOURCES = 34,
00488 
00489    /// This packet returns the current mode (Off, Passive, Safe or Full).
00490    /// The return value is a single unsigned byte.
00491    ///
00492    /// DEVNOTE: This file defines symbolic constants for the
00493    /// above-mentioned states.
00494    LOBOT_OI_SENSOR_MODE,
00495 
00496    /// This packet returns the currently selected song via a single
00497    /// unsigned data byte.
00498    LOBOT_OI_SENSOR_SONG_NUMBER,
00499 
00500    /// This packet returns one unsigned data byte, a flag indicating
00501    /// whether the robot is currently playing a song or not.
00502    LOBOT_OI_SENSOR_SONG_PLAYING,
00503 
00504    /// This packet returns the most recently requested drive command
00505    /// speed parameter via a signed 16-bit integer (high byte first). The
00506    /// return value will lie in the range [-500, 500].
00507    LOBOT_OI_SENSOR_REQUESTED_SPEED,
00508 
00509    /// This packet returns the most recently requested drive command turn
00510    /// radius parameter via a signed 16-bit integer (high byte first).
00511    /// The return value will lie in the range [-2000, 2000].
00512    LOBOT_OI_SENSOR_REQUESTED_RADIUS,
00513 
00514    /// These packets return the most recently requested drive direct
00515    /// command speed parameters via a signed 16-bit integer (high byte
00516    /// first). The return value will lie in the range [-500, 500].
00517    //@{
00518    LOBOT_OI_SENSOR_REQUESTED_SPEED_RIGHT,
00519    LOBOT_OI_SENSOR_REQUESTED_SPEED_LEFT,
00520    //@}
00521 } ;
00522 
00523 /// Sensor bit masks
00524 enum {
00525    /// Bit masks to test the bump sensors.
00526    //@{
00527    LOBOT_OI_BUMP_LEFT   = 0x02,
00528    LOBOT_OI_BUMP_RIGHT  = 0x01,
00529    LOBOT_OI_BUMP_BOTH   = 0x03,
00530    LOBOT_OI_BUMP_EITHER = 0x03,
00531    //@}
00532 
00533    /// Bit masks to test the wheel drop sensors.
00534    //@{
00535    LOBOT_OI_WHEEL_DROP_CASTER = 0x10,
00536    LOBOT_OI_WHEEL_DROP_LEFT   = 0x08,
00537    LOBOT_OI_WHEEL_DROP_RIGHT  = 0x04,
00538    LOBOT_OI_WHEEL_DROP_ALL    = 0x1C,
00539    LOBOT_OI_WHEEL_DROP_ANY    = 0x1C,
00540    //@}
00541 
00542    /// Bit masks to test the states of the Play and Advance buttons.
00543    //@{
00544    LOBOT_OI_BUTTON_ADVANCE    = 0x04,
00545    LOBOT_OI_BUTTON_PLAY       = 0x01,
00546    //@}
00547 } ;
00548 
00549 /// Enumerations for the infrared bytes sent by the Roomba remote and the
00550 /// Home base.
00551 enum {
00552    LOBOT_OI_REMOTE_LEFT = 129,
00553    LOBOT_OI_REMOTE_FORWARD,
00554    LOBOT_OI_REMOTE_RIGHT,
00555    LOBOT_OI_REMOTE_SPOT,
00556    LOBOT_OI_REMOTE_MAX,
00557    LOBOT_OI_REMOTE_SMALL,
00558    LOBOT_OI_REMOTE_MEDIUM,
00559    LOBOT_OI_REMOTE_LARGE,
00560    LOBOT_OI_REMOTE_CLEAN = LOBOT_OI_REMOTE_LARGE,
00561    LOBOT_OI_REMOTE_PAUSE,
00562    LOBOT_OI_REMOTE_POWER,
00563    LOBOT_OI_REMOTE_ARC_FORWARD_LEFT,
00564    LOBOT_OI_REMOTE_ARC_FORWARD_RIGHT,
00565    LOBOT_OI_REMOTE_DRIVE_STOP,
00566 
00567    LOBOT_OI_HOME_BASE_FORCE_FIELD = 242,
00568    LOBOT_OI_HOME_BASE_GREEN_BUOY  = 244,
00569    LOBOT_OI_HOME_BASE_GBFF        = 246, // green buoy and force field
00570    LOBOT_OI_HOME_BASE_RED_BUOY    = 248,
00571    LOBOT_OI_HOME_BASE_RBFF        = 250, // red buoy and force field
00572    LOBOT_OI_HOME_BASE_RG_BUOY     = 252, // red and green buoys
00573    LOBOT_OI_HOME_BASE_RGBFF       = 254, // red and green buoys and force field
00574 } ;
00575 
00576 /// Enumerations for the current charging state.
00577 enum {
00578    LOBOT_OI_CHARGING_NOT,
00579    LOBOT_OI_CHARGING_RECONDITIONING,
00580    LOBOT_OI_CHARGING_FULL,
00581    LOBOT_OI_CHARGING_TRICKLE,
00582    LOBOT_OI_CHARGING_WAITING,
00583    LOBOT_OI_CHARGING_FAULT,
00584 } ;
00585 
00586 /// Enumerations for the charging sources.
00587 enum {
00588    LOBOT_OI_CHSRC_HOME_BASE = 0x02,
00589    LOBOT_OI_CHSRC_INTERNAL  = 0x01,
00590 } ;
00591 
00592 /// Enumerations for the robot's operational mode.
00593 enum {
00594    LOBOT_OI_MODE_OFF,
00595    LOBOT_OI_MODE_PASSIVE,
00596    LOBOT_OI_MODE_SAFE,
00597    LOBOT_OI_MODE_FULL,
00598 } ;
00599 
00600 /// Enumerations for the number of bytes of sensor data returned for the
00601 /// predefined sensor groups.
00602 enum {
00603    LOBOT_OI_SENSOR_SIZE_GROUP_0 = 26,
00604    LOBOT_OI_SENSOR_SIZE_GROUP_1 = 10,
00605    LOBOT_OI_SENSOR_SIZE_GROUP_2 =  6,
00606    LOBOT_OI_SENSOR_SIZE_GROUP_3 = 10,
00607    LOBOT_OI_SENSOR_SIZE_GROUP_4 = 14,
00608    LOBOT_OI_SENSOR_SIZE_GROUP_5 = 12,
00609    LOBOT_OI_SENSOR_SIZE_GROUP_6 = 52,
00610 } ;
00611 
00612 /*---------------------------------------------------------------------*/
00613 
00614 #ifdef __cplusplus
00615 } // end of extern "C"
00616 #endif
00617 
00618 #endif
Generated on Sun May 8 08:41:30 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3