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163 | // RBapp.h : Application-specific code for an application built
// on the Robotics Bus.
//
// To customize this template for your application,
// make a list of all the network-accessible variables used by the application,
// and place them in three places below.
//
// 1: Allocate space in EEPROM for any nonvolatile parameters.
//
// 2: Declare global variables in the RAM map, using RB_TYPEs UINT8, FLOAT, etc.
//
// 3: Populate the Object Dictionary with the index, permissions,
// and type of each variable. (perms are or'd with a media specifier).
//
// 4: In the dictionary, enter a pointer to each variable.
// This will be a simple constant for EEPROM, or a &myVar pointer to RAM.
//
// 5: Enter a text string to identify each object. Text labels can be 32
// characters long and should be entered inside quotes inside the
// dictionary table. The text string will be used by configuration utility
// program to create a friendly user interface for configuration.
//
// 6: Assign descriptive strings to any Process Messages you use.
//
// 7: In the Process Message Mapping table, include a default identifier,
// and the number of mappings, followed by a list of all mapped objects.
/* ----- revision history:
2006-08-05, Jimmy Sastra: Today I started this revision history.
Took out process messages for actualPos. The bluetooth module could not keep up.
2006-08-07, Mike Park: Reinstated process messages for actualPos. Frequency is set to a
low default and a variable in EEPROM allows user to modify frequency.
2007-02-13, Mike Park: 1 Hz neighbor information (piggybacked off of the heartbeat function)
toggled with object dictionary variable.
*/
/*************************************************************************
// DEFAULT NODE ID
***************************************************************************/
// *** DONT REMOVE, OK TO CHANGE ***
// NID to use when ROM is wiped clean.
// This can be changed and replaced in nonvolatile memory during operation.
#define RB_NODEID_DEFAULT 0x22
// WARNING: If this is 0 or > 253 RB_factory initialize will be
//called repetetively and no changes in eeprom will be saved
// this condition is because of the condition as set in RB_reset_from_eeprom()
/**************************************************************************
// EEPROM MAP
***************************************************************************/
// Assign addresses 0x00-0x7F (0-127) for variables stored in EEPROM,
// and be sure they are consistent with the Object Dictionary below.
// NOTE!! Addresses above 0x7F are used internally by the Robotics Bus (see RB.h).
#define SERVO_CAL_CMD_CENTER 2
#define SERVO_CAL_CMD_AMPLITUDE 4
//#define SERVO_KP 8
//#define SERVO_KD 10
#define SERVO_SPEED 12
#define SERVO_START_POS 14
#define FEEDBACK 8
/**************************************************************************
// RAM MAP
***************************************************************************/
// Global RAM variables used by application.
uint16 feed_freq;
sint16 actualPos;
sint16 servoPosCommand = 0;
uint8 servoSpeed;
bool calMode;
uint16 feed_mult=1;
uint16 feed_int=0;
uint16 raw_adc =0;
/***************************************
PROCESS MESSAGE MAPPINGS
if used, they must be named:
RB_RXMAPPING_0 - RB_RXMAPPING_3
RB_TXMAPPING_0 - RB_TXMAPPING_3
****************************************/
CONST UINT8 RB_RXMAPPING_0_LENGTH = 1;
CONST UINT16 RB_RXMAPPING_0_DEFAULT = RB_COMMAND + RB_NODEID_DEFAULT;
CONST pm_map RB_RXMAPPING_0[] =
{
{0x1050, RB_TYPE_SINT16, &servoPosCommand},
{0x1052, RB_TYPE_UINT8, &servoSpeed},
};
CONST UINT8 RB_RXMAPPING_1_LENGTH = 0;
CONST UINT16 RB_RXMAPPING_1_DEFAULT = RB_NULL;
CONST pm_map RB_RXMAPPING_1[] = RB_UNUSED_MAP;
CONST UINT8 RB_RXMAPPING_2_LENGTH = 0;
CONST UINT16 RB_RXMAPPING_2_DEFAULT = RB_NULL;
CONST pm_map RB_RXMAPPING_2[] = RB_UNUSED_MAP;
CONST UINT8 RB_RXMAPPING_3_LENGTH = 0;
CONST UINT16 RB_RXMAPPING_3_DEFAULT = RB_NULL;
CONST pm_map RB_RXMAPPING_3[] = RB_UNUSED_MAP;
CONST UINT8 RB_TXMAPPING_0_LENGTH = 1;
CONST UINT16 RB_TXMAPPING_0_DEFAULT = RB_SENSOR + RB_NODEID_DEFAULT;
CONST pm_map RB_TXMAPPING_0[] =
{
{0x1051, RB_TYPE_SINT16, &actualPos}
};
CONST UINT8 RB_TXMAPPING_1_LENGTH = 0;
CONST UINT16 RB_TXMAPPING_1_DEFAULT = RB_NULL;
CONST pm_map RB_TXMAPPING_1[] = RB_UNUSED_MAP;
CONST UINT8 RB_TXMAPPING_2_LENGTH = 0;
CONST UINT16 RB_TXMAPPING_2_DEFAULT = RB_NULL;
CONST pm_map RB_TXMAPPING_2[] = RB_UNUSED_MAP;
CONST UINT8 RB_TXMAPPING_3_LENGTH = 0;
CONST UINT16 RB_TXMAPPING_3_DEFAULT = RB_NULL;
CONST pm_map RB_TXMAPPING_3[] = RB_UNUSED_MAP;
/***************************************
OBJECT DICTIONARY
****************************************/
CONST od_entry objectDictionary[] =
{ // "|<------ 32 char string ------>|"
{ 0x1000, RB_MEDIA_NONV | RB_PERM_READWRITE, RB_TYPE_IDENTITY, RB_EEPROM_NODEID, "V1.4"}, // name of device goes here
{ 0x1001, RB_MEDIA_NONV | RB_PERM_READWRITE, RB_TYPE_UINT16, FEEDBACK, "Feedback in Hz"},
{ 0x1050, RB_MEDIA_RAM | RB_PERM_READWRITE, RB_TYPE_SINT16, &servoPosCommand, "poscomm"},
{ 0x1051, RB_MEDIA_RAM | RB_PERM_READONLY, RB_TYPE_SINT16, &actualPos, "Actual Pos"},
{ 0x1052, RB_MEDIA_RAM | RB_PERM_READWRITE, RB_TYPE_UINT8, &ServoSpeed, "Current speed"},
{ 0x1014, RB_MEDIA_RAM | RB_PERM_READONLY, RB_TYPE_UINT16, &raw_adc, "rawADC"},
{ 0x1020, RB_MEDIA_NONV | RB_PERM_READWRITE, RB_TYPE_SINT16, SERVO_CAL_CMD_CENTER, "calccent"},
{ 0x1021, RB_MEDIA_NONV | RB_PERM_READWRITE, RB_TYPE_UINT16, SERVO_CAL_CMD_AMPLITUDE,"calcamp"},
//{ 0x1024, RB_MEDIA_NONV | RB_PERM_READWRITE, RB_TYPE_UINT16, SERVO_KP,"KP for position control"},
//{ 0x1025, RB_MEDIA_NONV | RB_PERM_READWRITE, RB_TYPE_UINT16, SERVO_KD,"KD for position control"},
{ 0x1026, RB_MEDIA_NONV | RB_PERM_READWRITE, RB_TYPE_UINT16, SERVO_SPEED,"Initial Speed at startup"},
{ 0x1027, RB_MEDIA_NONV | RB_PERM_READWRITE, RB_TYPE_SINT16, SERVO_START_POS,"Initial Position"},
{ 0x1060, RB_MEDIA_RAM | RB_PERM_READWRITE, RB_TYPE_BOOLEAN, &calMode, "calMode"},
{ 0x1800, RB_MEDIA_ROM | RB_PERM_READONLY, RB_TYPE_PM_CONFIG, &RB_TXCONFIG_0, "posfeed"} // Tx PM Config
{ 0x1A00, RB_MEDIA_ROM | RB_PERM_READONLY, RB_TYPE_PM_MAPPING, RB_NULL, RB_NULL}, // Tx Mapping
{ 0x1400, RB_MEDIA_ROM | RB_PERM_READONLY, RB_TYPE_PM_CONFIG, &RB_RXCONFIG_0, "poscomm PMID"}, // Rx PM Config
{ 0x1600, RB_MEDIA_ROM | RB_PERM_READONLY, RB_TYPE_PM_MAPPING, RB_NULL, RB_NULL}, // Rx Mapping
RB_END_OF_DICTIONARY // end of dictionary marker
};
//eof
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