1 /****************************************************************************/
   2 /* rhino.h  (c++)                                                           */
   3 /*------------------------------------------------------------------------- */
   4 /* Licencia GPL                                                             */
   5 /* Enumeracion de los comandos de la clase Rhino                            */
   6 /* Clase para la gestion del estado del controlador del Servo Robot XR4     */
   7 /*                             RHINO                                        */
   8 /****************************************************************************/
   9 /* Marco Alvarez Reyna                                                      */
  10 /* CIII UTN-FRC Argentina                                                   */
  11 /* Abril 2008                                                               */
  12 /* mail: marcoalrey@gmail.com                                               */
  13 /****************************************************************************/
  14 
  15 #ifndef CMDDEF_H
  16 #define CMDDEF_H
  17 
  18 typedef enum SystemsStatusCommands{
  19     NC = 0,
  20     SA, //Read motor status
  21     SC, //Read system configuration
  22     SD, //Stop/Start delay time
  23     SE, //Read error stack
  24     SM, //Read motor mode
  25     SP, //Read teach pedant error byte
  26     SR, //Reset motor current limit circuit
  27     SS, //Read system status
  28     ST, //Execute diagnostic
  29     SU, //Read usage time
  30     SV, //Read versioin and I.D. number
  31     SX, //Execute diagnostic and return results
  32     SZ  //Read the delay timer value
  33 }SSCmd;
  34 
  35 typedef enum ConfigurationCommands{
  36     CC=14, //Set coordinate position
  37     CG, //Enable/Disable gripper mode
  38     CM, //Set motor mode
  39     CR  //Set robot type
  40 }CCmd;
  41 
  42 typedef enum MotorReadCommands{
  43     AR=18, //Read system acceleration
  44     DR, //Read motor PWM level and direction
  45     GS, //Read gripper status
  46     HR, //Read soft home position
  47     PA, //Read actual position
  48     PW, //Read destination position
  49     RL, //Read limit switches
  50     UA, //Read XYZ rotation angle
  51     UH, //Read XYZ home position
  52     UO, //Read XYZ offset
  53     UT, //Read tool length
  54     UY, //Read height of the Elbow rotation axis
  55     VA, //Read motor actual velocity
  56     VR, //Read motor desired velocity
  57     VX, //Read system velocity
  58     XR  //Read aux port level and direction
  59 }MRCmd;
  60 
  61 typedef enum MotorSetCommands{
  62     AC=34, //Clear motor actual position
  63     AS, //Set system aceleration
  64     DS, //Set motor PWM level and direction
  65     GC, //Close griper
  66     GO, //Open gripper
  67     HA, //Go to the hard home position
  68     HG, //Go to the soft home position
  69     HH, //Execute a hard home
  70     HL, //Hard home on limit switch
  71     HS, //Set soft home
  72     MA, //Stop all motors and auxiliary ports
  73     MC, //Start coordinated move
  74     MI, //Start all motors, immediate mode
  75     MM, //Stop single motor
  76     MS, //Start single motor
  77     MX, //Start XYZ move
  78     PD, //Set destination position, ansolute
  79     PR, //Set destination position, relative
  80     PX, //Set XYZ destination position, ansolute
  81     PY, //Set XYZ destination position, relative
  82     VG, //Set system velocity
  83     VS, //Set motor velocity
  84     XA, //Set XYZ rotation angle
  85     XH, //Set XYZ home position
  86     XO, //Set XYZ offset
  87     XS, //Set aux port level and direction
  88     XT, //Set tool lenghth
  89     XY, //Set height of the elbow rotation axis
  90 }MSCmd;
  91 
  92 typedef enum TeachPedantCommands{
  93     FR=62, //Receive teach pedant file from host
  94     FT, //Transmit teach pedant file to host
  95     FX, //Execute teach pedant program
  96     TA, //Abort/Terminate teach pedant program
  97     TC, //Clear teach pedant display
  98     TD, //Print to teach pedant display
  99     TE, //Enable/Disable teach pedant to move motors
 100     TH, //Give control to host
 101     TX, //Give control to Teach pedant
 102     TK, //Return to host the next key code
 103     TL, //Return to host the last key code
 104     TR, //Reset the teach pedant
 105     TS, //Set the teach pedant display cursor
 106     TT  // Execute teach pedant diagnostic and return results
 107 }TPCmd;
 108 
 109 typedef enum GainCommands{
 110     KA=76, //Set proportional gain
 111     KB, //Set diferential gain
 112     KC, //Set integral gain
 113     RA, //Read proportional gain
 114     RB, //Read diferential gain
 115     RC, //Read integral gain
 116     KR, //Restore user gains from EEPROM
 117     KS, //Store user gains to EEPROM
 118     KX  //Restore factory gains
 119 }GCmd;
 120 
 121 typedef enum InputOutputCommands{
 122     IB=85, //Read input or switch bit
 123     IP, //Read input port
 124     IX, //Read switch port
 125     OB, //Set output bit
 126     OP, //Set output port
 127     OR, //Read output port
 128     OT, //Toggle output bit
 129     WA, //Abort all wait
 130     WI  //Wait on input or switch
 131 }IOCmd;
 132 
 133 
 134 
 135 
 136 #endif //CMDDEF_H
 137