1 /****************************************************************************/
   2 /* statusdef.h  (c++)                                                       */
   3 /*------------------------------------------------------------------------- */
   4 /* Licencia GPL                                                             */
   5 /* Enumeraciones para los codigos de estado 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 #define MAX_RB_STATUS_CODES 64 // Rhino Controller Status Messages
  16 #define MAX_RC_STATUS_CODES 16  // Rhino Class Status Messages
  17 
  18 // RHINO CONTROLER Status Codes
  19 #define RB_STS_NS 0  
  20 
  21 //For SS
  22 #define RB_MOTOR_MOVE   1  //At least one motor is performing a trapezoidal move
  23 #define RB_ERROR        2  //A system error has ocurred
  24 #define RB_DTIMER_ACT   3  //The general purpose delay timer is active
  25 #define RB_WAIT_PENDING 4  //At least one wait on input or wait on switch is still pending
  26 #define RB_NO_TP        5  //No teach pedant is connected
  27 #define RB_TP_ENTER     6  //The teach pedant ENTER key hast been pressed
  28 #define RB_TP_ESC       7 //The teach pedant ESCAPER key hast been pressed
  29 #define RB_TP_ERROR     8  //A teach pedant error has ocurred
  30 
  31 //For SA
  32 #define RB_MOTOR_A_TMON 8 + 1 
  33 #define RB_MOTOR_B_TMON 8 + 2 
  34 #define RB_MOTOR_C_TMON 8 + 3 
  35 #define RB_MOTOR_D_TMON 8 + 4 
  36 #define RB_MOTOR_E_TMON 8 + 5 
  37 #define RB_MOTOR_F_TMON 8 + 6 
  38 #define RB_MOTOR_G_TMON 8 + 7 
  39 #define RB_MOTOR_H_TMON 8 + 8 
  40 #define RB_MOTORS_NOTM  8 + 9 
  41 
  42 // RHINO CLASS Status Codes
  43 #define RC_STS_NS MAX_RB_STATUS_CODES     + 0
  44 #define RC_DEF_LOG_LEV MAX_RB_STATUS_CODES + 1
  45 #define RC_DEP_CMD_PENDING  MAX_RB_STATUS_CODES + 2
  46 
  47 /****************************************************************************/
  48 /* A medida que se codifica la clase se van agregando las distintas         */
  49 /* definiciones de estado en este segmento.                                 */
  50 /****************************************************************************/