libnifalcon  1.0.1
Namespaces | Classes | Variables
libnifalcon Namespace Reference

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
 

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

const uint8_t libnifalcon::NOVINT_FALCON_NVENT_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_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