libnifalcon Namespace Reference


Namespaces

namespace  StamperKinematicImpl

Classes

class  FalconCommFTD2XX
class  FalconCommLibUSB
class  FalconComm
class  FalconCore
class  FalconDevice
class  FalconFirmware
class  FalconGrip
class  FalconKinematic
class  FalconFirmwareNovintSDK
class  FalconGripFourButton
class  FalconKinematicStamper
class  FalconCLIBase
class  FalconDeviceBoostThread

Variables

static const double WHEEL_SLOTS_NUMBER = 320
static const double SHAFT_DIAMETER = 0.01425
static const double SMALL_ARM_DIAMETER = 0.110
static const double THETA_OFFSET_ANGLE = 35
static const double a = 0.060
static const double b = 0.1025
static const double c = 0.01443
static const double d = 0.01125
static const double e = d
static const double f = -0.025
static const double r = 0.0400
static const double s = -0.02309
static const double PI = 3.14159265
static const double OFFSET_ANGLE = (PI/12)
static const double phy [] = { PI/2 + OFFSET_ANGLE, -PI/6 + OFFSET_ANGLE, -5*PI/6 + OFFSET_ANGLE}
static const uint8_t NOVINT_FALCON_NVENT_FIRMWARE []
static const unsigned int NOVINT_FALCON_NVENT_FIRMWARE_SIZE = 8492
static const uint8_t NOVINT_FALCON_TEST_FIRMWARE []
static const unsigned int NOVINT_FALCON_TEST_FIRMWARE_SIZE = 7324

Variable Documentation

const double libnifalcon::a = 0.060 [static]

Distance from leg base to start of knee, in meters

const double libnifalcon::b = 0.1025 [static]

Length of shin parallelogram side, in meters

const double libnifalcon::c = 0.01443 [static]

Length from shin connection point to end effector center, u component, in meters

const double libnifalcon::d = 0.01125 [static]

Length of shin to end effector connection joint, in meters

const double libnifalcon::e = d [static]

Length of knee to shin connection joint, in meters

const double libnifalcon::f = -0.025 [static]

Length from shin connection point to end effector center, v component, in meters

Array of byte values that make up the nvent firmware. Firmware is hex2000 encoded file that represents the memory layout of the TMS320 DSP chip.

const unsigned int libnifalcon::NOVINT_FALCON_NVENT_FIRMWARE_SIZE = 8492 [static]

Size of firmware array

const uint8_t libnifalcon::NOVINT_FALCON_TEST_FIRMWARE[] [static]

Array of byte values that make up the nvent firmware. Firmware is hex2000 encoded file that represents the memory layout of the TMS320 DSP chip.

const unsigned int libnifalcon::NOVINT_FALCON_TEST_FIRMWARE_SIZE = 7324 [static]

Size of firmware array

const double libnifalcon::OFFSET_ANGLE = (PI/12) [static]

Offset of each axis from the desk plane (15 degrees)

const double libnifalcon::phy[] = { PI/2 + OFFSET_ANGLE, -PI/6 + OFFSET_ANGLE, -5*PI/6 + OFFSET_ANGLE} [static]

Angles of each of the three legs, in radians

const double libnifalcon::PI = 3.14159265 [static]

PI Constant, to save having to include one

const double libnifalcon::r = 0.0400 [static]

Distance from fixed frame origin to leg base, u component, in meters

const double libnifalcon::s = -0.02309 [static]

Distance from fixed frame origin to leg base, v component, in meters

const double libnifalcon::SHAFT_DIAMETER = 0.01425 [static]

Diameter of the motor shaft, in meters

const double libnifalcon::SMALL_ARM_DIAMETER = 0.110 [static]

Small diameter of the arm in meters

const double libnifalcon::THETA_OFFSET_ANGLE = 35 [static]

When encoder value = 0 (approx)

const double libnifalcon::WHEEL_SLOTS_NUMBER = 320 [static]

Number of transparent slot on the internal encoder wheel


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