libnifalcon
1.0.1
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Namespaces | |
StamperKinematicImpl | |
Classes | |
class | FalconCLIBase |
class | FalconComm |
class | FalconCommFTD2XX |
class | FalconCommLibUSB |
class | FalconCore |
class | FalconDevice |
class | FalconDeviceThread |
class | FalconFirmware |
class | FalconFirmwareNovintSDK |
class | FalconGrip |
class | FalconGripFourButton |
class | FalconKinematic |
class | FalconKinematicStamper |
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 |
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Distance from leg base to start of knee, in meters
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Length of shin parallelogram side, in meters
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Length from shin connection point to end effector center, u component, in meters
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Length of shin to end effector connection joint, in meters
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Length of knee to shin connection joint, in meters
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Length from shin connection point to end effector center, v component, in meters
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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.
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Size of firmware array
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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.
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Size of firmware array
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Offset of each axis from the desk plane (15 degrees)
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Angles of each of the three legs, in radians
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PI constant, to save having to include one
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Distance from fixed frame origin to leg base, u component, in meters
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Distance from fixed frame origin to leg base, v component, in meters
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Diameter of the motor shaft, in meters
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Small diameter of the arm in meters
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When encoder value = 0 (approx)
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Number of transparent slot on the internal encoder wheel