amosiisensormotordefinition.h

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/*
 * amosiisensormotordefinition.h
 *
 *  Created on: May 2, 2011
 *      Author: poramate
 *
 *  Small adaptations and moved to oderobots/selforg/wirings
 *      by fhesse
 */

#ifndef AMOSIISENSORMOTORDEFINITION_H_
#define AMOSIISENSORMOTORDEFINITION_H_

        enum AmosIISensorNames{

          // Angle sensors
          TR0_as=0, //Thoracic joint of right front leg
          TR1_as=1, //Thoracic joint of right middle leg
          TR2_as=2, //Thoracic joint of right hind leg

          TL0_as=3, //Thoracic joint of left front leg
          TL1_as=4, //Thoracic joint of left middle leg
          TL2_as=5, //Thoracic joint of left hind leg

          CR0_as=6, //Coxa joint of right front leg
          CR1_as=7, //Coxa joint of right middle leg
          CR2_as=8, //Coxa joint of right hind leg

          CL0_as=9,  //Coxa joint of left hind leg
          CL1_as=10, //Coxa joint of left hind leg
          CL2_as=11, //Coxa joint of left hind leg

          FR0_as=12, //Fibula joint of right front leg
          FR1_as=13, //Fibula joint of right middle leg
          FR2_as=14, //Fibula joint of right hind leg

          FL0_as=15, //Fibula joint of left front leg
          FL1_as=16, //Fibula joint of left middle leg
          FL2_as=17, //Fibula joint of left hind leg

          BJ_as= 18, //Backbone joint angle

          //Foot contact sensors
          R0_fs= 19, //Right front foot
          R1_fs= 20, //Right middle foot
          R2_fs= 21, //Right hind foot
          L0_fs= 22, //Left front foot
          L1_fs= 23, //Left middle foot
          L2_fs= 24, //Left hind foot

          FR_us=25, // US sensors = Front Ultrasonic sensors (right and left)
          FL_us=26,

          R0_irs=31, // IR sensors = IR sensors at legs
          R1_irs=29,
          R2_irs=27,
          L0_irs=32,
          L1_irs=30,
          L2_irs=28,

          R0_us= 33, // Reflex ultrasonic sensors at front, middle and rear legs
          R1_us= 34,
          L0_us= 35,
          L1_us= 36,

          TR0_ts=37, // Torque sensors, used as Current sensors at each motor
          TR1_ts=38,
          TR2_ts=39,

          TL0_ts=40,
          TL1_ts=41,
          TL2_ts=42,

          CR0_ts=43,
          CR1_ts=44,
          CR2_ts=45,

          CL0_ts=46,
          CL1_ts=47,
          CL2_ts=48,

          FR0_ts=49,
          FR1_ts=50,
          FR2_ts=51,

          FL0_ts=52,
          FL1_ts=53,
          FL2_ts=54,

          BJ_ts= 55,

          BX_acs= 56, // 3D Accelerometer (x,y,z) at body
          BY_acs= 57,
          BZ_acs= 58,

          L_ps = 59,  //photo (light) sensors Left, Middle and Right
          M_ps = 60,
          R_ps = 61,

          G0x_s=62, // goal orientation sensors (relative position to reference object 1, e.g. camera)
          G0y_s=63,
          G0z_s=64,

          A_cs = 65, //average current sensor

          BX_spd= 66, //Body speed sensors
          BY_spd= 67,
          BZ_spd= 68,

          //---Adding more sensors**
          G0angleroll_s=69, // goal orientation sensors (relative angle to reference object 1, e.g. camera)
          G0anglepitch_s=70,
          G0angleyaw_s=71,

          G1x_s=72, // goal orientation sensors (relative position to reference object 2, e.g. camera)
          G1y_s=73,
          G1z_s=74,

          G1angleroll_s=75, // goal orientation sensors (relative angle to reference object 2, e.g. camera)
          G1anglepitch_s=76,
          G1angleyaw_s=77,

          G2x_s=78, // goal orientation sensors (relative position to reference object 3, e.g. camera)
          G2y_s=79,
          G2z_s=80,

          G2angleroll_s=81, // goal orientation sensors (relative angle to reference object 3, e.g. camera)
          G2anglepitch_s=82,
          G2angleyaw_s=83,

          Laserx_s = 84,
          Lasery_s = 85,
          Laserz_s = 86,

          Poti_s = 87,

          Compassx_s = 88,
          Compassy_s = 89,

          R0X_acs= 90, // 3D Accelerometer (x,y,z) at RO
          R0Y_acs= 91,
          R0Z_acs= 92,

          R1X_acs= 93, // 3D Accelerometer (x,y,z) at R1
          R1Y_acs= 94,
          R1Z_acs= 95,

          R2X_acs= 96, // 3D Accelerometer (x,y,z) at R2
          R2Y_acs= 97,
          R2Z_acs= 98,

          L0X_acs= 99, // 3D Accelerometer (x,y,z) at L0
          L0Y_acs= 100,
          L0Z_acs= 101,

          L1X_acs= 102, // 3D Accelerometer (x,y,z) at L1
          L1Y_acs= 103,
          L1Z_acs= 104,

          L2X_acs= 105, // 3D Accelerometer (x,y,z) at L2
          L2Y_acs= 106,
          L2Z_acs= 107,

          Microphone0_s= 108, // Microphone 0
          Microphone1_s= 109, // Microphone 1
          Microphone2_s= 110, // Microphone 2

          //Changing according to the maximum sensor number
          AMOSII_SENSOR_MAX = 111,
  };



  enum AmosIIMotorNames{
        TR0_m = 0,
        TR1_m = 1,
        TR2_m = 2,// Upward (+), Downward (-)
        TL0_m = 3,
        TL1_m = 4,
        TL2_m = 5,

        CR0_m = 6,
        CR1_m = 7,
        CR2_m = 8,// Upward (+), Downward (-)
        CL0_m = 9,
        CL1_m = 10,
        CL2_m = 11,

        FR0_m = 12,
        FR1_m = 13,
        FR2_m = 14, // Upward (+), Downward (-)
        FL0_m = 15,
        FL1_m = 16,
        FL2_m = 17,

        BJ_m = 18,  // Upward (+), Downward (-)

        //Changing according to the maximum motor number
        AMOSII_MOTOR_MAX = 19,



  };

#endif /* AMOSIISENSORMOTORDEFINITION_H_ */