amiro-os / include / Types.h @ 58fe0e0b
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#ifndef TYPES_H_
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#define TYPES_H_
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/*! \brief Types to use if you work with the AMiRo platform
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*
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* This header contains types which has to be used
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* if they suit the problem.
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* All physical constants (therefore all values with a
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* physical unit) are implicitly in µ iff the variable
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* is of type integer, unless it is explicitly named in
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* the variable.
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* All physical constants (therefore all values with a
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* physical unit) are implicitly without prefix (e.g. µ)
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* iff the variable is of type float, unless it is
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* explicitly named in the variable.
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* For the types, the SI prefix is used, iff the variable
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* is of type float and therefor in SI units.
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*/
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namespace types {
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/**
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* A structure to represent the position and orientation of the robot
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*/
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struct position {
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/*@{*/
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int32_t x; /**< the x coordinate in µm */
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int32_t y; /**< the y coordinate in µm */
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int32_t z; /**< the z coordinate in µm */
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int32_t f_x; /**< the f_x orientation in µrad */
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int32_t f_y; /**< the f_y orientation in µrad */
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int32_t f_z; /**< the f_z orientation in µrad */
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/*@}*/
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}; |
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/**
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* A structure to represent the position and orientation of the robot
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*/
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struct positionSI {
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/*@{*/
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float x; /**< the x coordinate in m */ |
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float y; /**< the y coordinate in m */ |
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float z; /**< the z coordinate in m */ |
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float f_x; /**< the f_x coordinate in rad */ |
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float f_y; /**< the f_y coordinate in rad */ |
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float f_z; /**< the f_z coordinate in rad */ |
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/*@}*/
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}; |
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/**
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* A structure to represent the kinematics of the robot
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*/
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struct kinematic {
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/*@{*/
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int32_t x; /**< the x velocity in µm/s */
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int32_t y; /**< the y velocity in µm/s */
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int32_t z; /**< the z velocity in µm/s */
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int32_t w_x; /**< the w_x angular velocity in µrad/s */
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int32_t w_y; /**< the w_y angular velocity in µrad/s */
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int32_t w_z; /**< the w_z angular velocity in µrad/s */
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/*@}*/
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}; |
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/**
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* A structure to represent the kinematics of the robot
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*/
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struct kinematicSI {
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/*@{*/
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float x; /**< the x velovity in m/s */ |
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float y; /**< the y velocity in m/s */ |
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float z; /**< the z velocity in m/s */ |
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float f_x; /**< the f_x angular velocity in rad/s */ |
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float f_y; /**< the f_y angular velocity in rad/s */ |
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float f_z; /**< the f_z angular velocity in rad/s */ |
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/*@}*/
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}; |
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/**
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* A structure to represent the power status of the robot
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*/
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struct power_status {
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/**
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* @brief A union to encode the current charging status
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*/
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union ChargingState {
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uint8_t value = 0;
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struct {
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uint8_t powermanagement_plugged_in : 1; /**< status flag, whether the PowerManagement board is plugged in (physical plug detected) */ |
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uint8_t powermanagement_charging : 1; /**< status flag, whether the batteries are currently charged via the PowerManagement board */ |
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uint8_t diwheeldrive_enable_power_path : 1; /**< a flag to enable/disable charging via the DiWheelDrive board */ |
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uint8_t diwheeldrive_charging : 1; /**< status flag, whether the batteries are currently charged via the DiWheelDrive board */ |
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uint8_t vsys_higher_than_9V : 1; /**< status flag, whether vsys is currently higher than 9V */ |
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uint8_t rsvd : 3;
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} content; |
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}; |
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/*@{*/
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ChargingState charging_flags; /**< charging status */
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uint8_t state_of_charge; /**< state of charge of the batteries in percent */
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uint16_t minutes_remaining; /**< remaining time until the batteries are fully charged/discharged in minutes*/
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uint16_t power_consumption; /**< current power consumption in mW */
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/*@}*/
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}; |
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} |
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#endif /* TYPES_ */ |