Functions |
| void * | runSonicThread (void *arg) |
Variables |
| int | dcmTime = 0 |
| int | dcmTimeSinceStart = 0 |
| float | jointPositions [J_NUM_JOINTS] |
| float | jointVelocities [J_NUM_JOINTS] |
| float | jointVelocitySum |
| float | jointAccelerations [J_NUM_JOINTS] |
| float | jointCurrents [J_NUM_JOINTS] |
| float | jointCurrentSum |
| float | jointTargets [J_NUM_JOINTS] |
| float | jointHardnesses [J_NUM_JOINTS] |
| int | boardErrors [MB_NUM_BOARDS] |
| int | nackErrors [NK_NUM_BOARDS] |
| unsigned char | walkCyclesSinceCall |
| bool | walkAmIWalking |
| bool | walkPreviousAmIWalking |
| float | odometryDeltaX |
| float | odometryDeltaY |
| float | odometryDeltaO |
| float | jointTemperatures [J_NUM_JOINTS] |
| float | balanceValues [B_NUM_SENSORS] |
| bool | balanceFallingEnabled |
| bool | balanceFalling |
| bool | balancePreviousFalling |
| bool | balanceFallingForward |
| bool | balanceFallingBackward |
| bool | balanceFallingLeft |
| bool | balanceFallingRight |
| bool | balanceFallen |
| bool | balancePreviousFallen |
| int | balanceFallenCount |
| float | touchValues [T_NUM_SENSORS] |
| float | touchLeftCoPX |
| float | touchLeftCoPY |
| float | touchRightCoPX |
| float | touchRightCoPY |
| float | touchPSValues [PS_NUM_SENSORS] |
| bool | touchOnGround |
| bool | touchPreviousOnGround |
| bool | touchLeftFootOnGround |
| bool | touchRightFootOnGround |
| SupportModeEnum | leftSupportMode |
| SupportModeEnum | rightSupportMode |
| string | indexToSupportMode [SM_NUM_MODES] = {string("Stance"), string("Push"), string("Swing"), string("Impact")} |
| bool | collisionAny |
| bool | collisionLeftArm |
| bool | collisionLeftArmFront |
| bool | collisionLeftArmSide |
| bool | collisionLeftArmBack |
| bool | collisionRightArm |
| bool | collisionRightArmFront |
| bool | collisionRightArmSide |
| bool | collisionRightArmBack |
| bool | collisionLeftFoot |
| bool | collisionLeftFootFront |
| bool | collisionLeftFootBack |
| bool | collisionRightFoot |
| bool | collisionRightFootFront |
| bool | collisionRightFootBack |
| float | batteryValues [E_NUM_SENSORS] |
| float | distanceValues [D_NUM_SENSORS] |
| float | sonicValues [S_NUM_SENSORS] |
| float | sonicObstacleDistance |
| string | indexToName [] = {string("HeadYaw"), string("HeadPitch"), string("LShoulderRoll"), string("LShoulderPitch"), string("LElbowYaw"), string("LElbowRoll"), string("RShoulderRoll"), string("RShoulderPitch"), string("RElbowYaw"), string("RElbowRoll"), string("LHipYawPitch"), string("LHipRoll"), string("LHipPitch"), string("LKneePitch"), string("LAnklePitch"), string("LAnkleRoll"), string("RHipYawPitch"), string("RHipRoll"), string("RHipPitch"), string("RKneePitch"), string("RAnklePitch"), string("RAnkleRoll")} |
| string | indexToPositionSensor [] = {DN_HEAD_YAW_POSITION, DN_HEAD_PITCH_POSITION, DN_L_SHOULDER_ROLL_POSITION, DN_L_SHOULDER_PITCH_POSITION, DN_L_ELBOW_YAW_POSITION, DN_L_ELBOW_ROLL_POSITION, DN_R_SHOULDER_ROLL_POSITION, DN_R_SHOULDER_PITCH_POSITION, DN_R_ELBOW_YAW_POSITION, DN_R_ELBOW_ROLL_POSITION, DN_L_HIP_YAWPITCH_POSITION, DN_L_HIP_ROLL_POSITION, DN_L_HIP_PITCH_POSITION, DN_L_KNEE_PITCH_POSITION, DN_L_ANKLE_PITCH_POSITION, DN_L_ANKLE_ROLL_POSITION, DN_R_HIP_YAWPITCH_POSITION, DN_R_HIP_ROLL_POSITION, DN_R_HIP_PITCH_POSITION, DN_R_KNEE_PITCH_POSITION, DN_R_ANKLE_PITCH_POSITION, DN_R_ANKLE_ROLL_POSITION} |
| string | indexToCurrentSensor [] = {DN_HEAD_YAW_CURRENT, DN_HEAD_PITCH_CURRENT, DN_L_SHOULDER_ROLL_CURRENT, DN_L_SHOULDER_PITCH_CURRENT, DN_L_ELBOW_YAW_CURRENT, DN_L_ELBOW_ROLL_CURRENT, DN_R_SHOULDER_ROLL_CURRENT, DN_R_SHOULDER_PITCH_CURRENT, DN_R_ELBOW_YAW_CURRENT, DN_R_ELBOW_ROLL_CURRENT, DN_L_HIP_YAWPITCH_CURRENT, DN_L_HIP_ROLL_CURRENT, DN_L_HIP_PITCH_CURRENT, DN_L_KNEE_PITCH_CURRENT, DN_L_ANKLE_PITCH_CURRENT, DN_L_ANKLE_ROLL_CURRENT, DN_R_HIP_YAWPITCH_CURRENT, DN_R_HIP_ROLL_CURRENT, DN_R_HIP_PITCH_CURRENT, DN_R_KNEE_PITCH_CURRENT, DN_R_ANKLE_PITCH_CURRENT, DN_R_ANKLE_ROLL_CURRENT} |
| string | indexToTargetSensor [] = {DN_HEAD_YAW_TARGET, DN_HEAD_PITCH_TARGET, DN_L_SHOULDER_ROLL_TARGET, DN_L_SHOULDER_PITCH_TARGET, DN_L_ELBOW_YAW_TARGET, DN_L_ELBOW_ROLL_TARGET, DN_R_SHOULDER_ROLL_TARGET, DN_R_SHOULDER_PITCH_TARGET, DN_R_ELBOW_YAW_TARGET, DN_R_ELBOW_ROLL_TARGET, DN_L_HIP_YAWPITCH_TARGET, DN_L_HIP_ROLL_TARGET, DN_L_HIP_PITCH_TARGET, DN_L_KNEE_PITCH_TARGET, DN_L_ANKLE_PITCH_TARGET, DN_L_ANKLE_ROLL_TARGET, DN_R_HIP_YAWPITCH_TARGET, DN_R_HIP_ROLL_TARGET, DN_R_HIP_PITCH_TARGET, DN_R_KNEE_PITCH_TARGET, DN_R_ANKLE_PITCH_TARGET, DN_R_ANKLE_ROLL_TARGET} |
| string | indexToHardnessSensor [] = {DN_HEAD_YAW_HARDNESS, DN_HEAD_PITCH_HARDNESS, DN_L_SHOULDER_ROLL_HARDNESS, DN_L_SHOULDER_PITCH_HARDNESS, DN_L_ELBOW_YAW_HARDNESS, DN_L_ELBOW_ROLL_HARDNESS, DN_R_SHOULDER_ROLL_HARDNESS, DN_R_SHOULDER_PITCH_HARDNESS, DN_R_ELBOW_YAW_HARDNESS, DN_R_ELBOW_ROLL_HARDNESS, DN_L_HIP_YAWPITCH_HARDNESS, DN_L_HIP_ROLL_HARDNESS, DN_L_HIP_PITCH_HARDNESS, DN_L_KNEE_PITCH_HARDNESS, DN_L_ANKLE_PITCH_HARDNESS, DN_L_ANKLE_ROLL_HARDNESS, DN_R_HIP_YAWPITCH_HARDNESS, DN_R_HIP_ROLL_HARDNESS, DN_R_HIP_PITCH_HARDNESS, DN_R_KNEE_PITCH_HARDNESS, DN_R_ANKLE_PITCH_HARDNESS, DN_R_ANKLE_ROLL_HARDNESS} |
| string | indexToTemperatureSensor [] = {DN_HEAD_YAW_TEMPERATURE, DN_HEAD_PITCH_TEMPERATURE, DN_L_SHOULDER_ROLL_TEMPERATURE, DN_L_SHOULDER_PITCH_TEMPERATURE, DN_L_ELBOW_YAW_TEMPERATURE, DN_L_ELBOW_ROLL_TEMPERATURE, DN_R_SHOULDER_ROLL_TEMPERATURE, DN_R_SHOULDER_PITCH_TEMPERATURE, DN_R_ELBOW_YAW_TEMPERATURE, DN_R_ELBOW_ROLL_TEMPERATURE, DN_L_HIP_YAWPITCH_TEMPERATURE, DN_L_HIP_ROLL_TEMPERATURE, DN_L_HIP_PITCH_TEMPERATURE, DN_L_KNEE_PITCH_TEMPERATURE, DN_L_ANKLE_PITCH_TEMPERATURE, DN_L_ANKLE_ROLL_TEMPERATURE, DN_R_HIP_YAWPITCH_TEMPERATURE, DN_R_HIP_ROLL_TEMPERATURE, DN_R_HIP_PITCH_TEMPERATURE, DN_R_KNEE_PITCH_TEMPERATURE, DN_R_ANKLE_PITCH_TEMPERATURE, DN_R_ANKLE_ROLL_TEMPERATURE} |
| string | indexToBoardError [] = {DN_MB_CHEST, DN_MB_HEAD, DN_MB_R_SHOULDER, DN_MB_R_ARM, DN_MB_R_HAND, DN_MB_R_HIP, DN_MB_R_THIGH, DN_MB_R_SHIN, DN_MB_R_FOOT, DN_MB_L_SHOULDER, DN_MB_L_ARM, DN_MB_L_HAND, DN_MB_L_HIP, DN_MB_L_THIGH, DN_MB_L_SHIN, DN_MB_L_FOOT, DN_MB_US, DN_MB_INERTIAL, DN_MB_TOUCH, DN_MB_FACE, DN_MB_EAR} |
| string | indexToNack [] = {DN_NK_CHEST} |
| string | indexToBalanceSensor [] = {DN_ACCEL_X, DN_ACCEL_Y, DN_ACCEL_Z, DN_ANGLE_X, DN_ANGLE_Y, DN_GYRO_X, DN_GYRO_Y} |
| string | indexToTouchSensor [] = {DN_L_FSR_FL, DN_L_FSR_FR, DN_L_FSR_BL, DN_L_FSR_BR, DN_L_BUMP_L, DN_L_BUMP_R, DN_R_FSR_FL, DN_R_FSR_FR, DN_R_FSR_BL, DN_R_FSR_BR, DN_R_BUMP_L, DN_R_BUMP_R, DN_CHEST_BUTTON} |
| string | indexToBatterySensor [] = {DN_CHARGE, DN_CURRENT, DN_VOLTAGE_MIN, DN_VOLTAGE_MAX, DN_TEMPERATURE} |
| string | indexToDistanceSensor [] = {DN_US_DISTANCE} |
