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1.9.2
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gusimplewhiteboard
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WHITEBOARD_POSTER_STRING_CONVERSION. More...
#include <wb_nao_walk_command.h>
Public Attributes | |
| bool | walkEngineOn |
| connects the dcm callbacks. More... | |
| int16_t | forward |
| [-300 - 300] step-size(mm) per second, limited to +/- 300mm/step More... | |
| int16_t | left |
| [-200 - 200] step-size(mm) per second, limited to +/- 200mm/step More... | |
| int8_t | turn |
| [-85 - 85] step-size(mm) per second, limited to +/- 85deg/step More... | |
| bool | exactStepsRequested |
| No ratcheting, no speed 'buildup', just full step sizes. More... | |
| uint8_t | speed |
| [0 - 100] modifier for forward etc. More... | |
| uint8_t | odometryResetCounter |
| Odometry will reset any time this is changed or incremented. More... | |
| bool | isFast |
| for kicks. More... | |
| bool | kickWithLeftFoot |
| which foot to use for kicking More... | |
| bool | useShuffle |
| limits the step height so the robot 'shuffles' instead of taking larger steps. More... | |
| bool | leftArmLimp |
| lower stiffness in the arms when walking, allows the arm to move a little more. More... | |
| bool | rightArmLimp |
| lower stiffness in the arms when walking, allows the arm to move a little more. More... | |
| uint8_t | power |
| [0 - 100] stiffness, auto set to minimum needed values. More... | |
| uint8_t | bend |
| [0 - 1] controls what the robot does when stopped, 0 == STAND and lower stiffness, 1 == stay in READY, crouched and ready to walk immediately. More... | |
WHITEBOARD_POSTER_STRING_CONVERSION.
Control message for sending commands to the walk engine created by UNSW. LICENSE: https://github.com/UNSWComputing/rUNSWift-2017-release/blob/master/LICENSE Source: https://github.com/UNSWComputing/rUNSWift-2017-release/blob/master/robot/motion/generator/Walk2014Generator.cpp Some of their documentation: https://github.com/UNSWComputing/rUNSWift-2017-release/wiki/Motion#walk2014-generator
Definition at line 110 of file wb_nao_walk_command.h.
| uint8_t wb_nao_walk_command::bend |
[0 - 1] controls what the robot does when stopped, 0 == STAND and lower stiffness, 1 == stay in READY, crouched and ready to walk immediately.
Definition at line 181 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::bend(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_bend(), and wb_nao_walk_command_from_network_serialised().
| bool wb_nao_walk_command::exactStepsRequested |
No ratcheting, no speed 'buildup', just full step sizes.
This is good for exact movements, like walk 23cm forward for a kick.
Definition at line 136 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::exactStepsRequested(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_exactStepsRequested(), and wb_nao_walk_command_from_network_serialised().
| int16_t wb_nao_walk_command::forward |
[-300 - 300] step-size(mm) per second, limited to +/- 300mm/step
Definition at line 121 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::forward(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_forward(), and wb_nao_walk_command_from_network_serialised().
| bool wb_nao_walk_command::isFast |
for kicks.
True results in a 'Jab'/rapid kick.
Definition at line 151 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::isFast(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_isFast(), and wb_nao_walk_command_from_network_serialised().
| bool wb_nao_walk_command::kickWithLeftFoot |
which foot to use for kicking
Definition at line 156 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::kickWithLeftFoot(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_kickWithLeftFoot(), and wb_nao_walk_command_from_network_serialised().
| int16_t wb_nao_walk_command::left |
[-200 - 200] step-size(mm) per second, limited to +/- 200mm/step
Definition at line 126 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::left(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_left(), and wb_nao_walk_command_from_network_serialised().
| bool wb_nao_walk_command::leftArmLimp |
lower stiffness in the arms when walking, allows the arm to move a little more.
This is for robot collisions to allow the arm to absorb some of the collision instead of rigidly transferring the force to the whole body.
Definition at line 166 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::leftArmLimp(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_leftArmLimp(), and wb_nao_walk_command_from_network_serialised().
| uint8_t wb_nao_walk_command::odometryResetCounter |
Odometry will reset any time this is changed or incremented.
Definition at line 146 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::odometryResetCounter(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_odometryResetCounter(), and wb_nao_walk_command_from_network_serialised().
| uint8_t wb_nao_walk_command::power |
[0 - 100] stiffness, auto set to minimum needed values.
Advanced pararm! don't alter this without knowledge of exactly what it does.
Definition at line 176 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::power(), guWhiteboard::NaoWalkCommand::set_power(), and wb_nao_walk_command_from_network_serialised().
| bool wb_nao_walk_command::rightArmLimp |
lower stiffness in the arms when walking, allows the arm to move a little more.
This is for robot collisions to allow the arm to absorb some of the collision instead of rigidly transferring the force to the whole body.
Definition at line 171 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::rightArmLimp(), guWhiteboard::NaoWalkCommand::set_rightArmLimp(), and wb_nao_walk_command_from_network_serialised().
| uint8_t wb_nao_walk_command::speed |
[0 - 100] modifier for forward etc.
. when using exactStepsRequested = true
Definition at line 141 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_speed(), guWhiteboard::NaoWalkCommand::speed(), and wb_nao_walk_command_from_network_serialised().
| int8_t wb_nao_walk_command::turn |
[-85 - 85] step-size(mm) per second, limited to +/- 85deg/step
Definition at line 131 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_turn(), guWhiteboard::NaoWalkCommand::turn(), and wb_nao_walk_command_from_network_serialised().
| bool wb_nao_walk_command::useShuffle |
limits the step height so the robot 'shuffles' instead of taking larger steps.
Good for walking near other robots or small obstacles that could trip the robot, if it tried to step onto it.
Definition at line 161 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_useShuffle(), guWhiteboard::NaoWalkCommand::useShuffle(), and wb_nao_walk_command_from_network_serialised().
| bool wb_nao_walk_command::walkEngineOn |
connects the dcm callbacks.
Essentially turning the walk on. When enabled, the walk engine controls all joint values except the head pitch and yaw.
Definition at line 116 of file wb_nao_walk_command.h.
Referenced by guWhiteboard::NaoWalkCommand::NaoWalkCommand(), guWhiteboard::NaoWalkCommand::operator=(), guWhiteboard::NaoWalkCommand::set_walkEngineOn(), guWhiteboard::NaoWalkCommand::walkEngineOn(), and wb_nao_walk_command_from_network_serialised().
1.9.2