26#ifndef __KINDRV_TYPES_H_
27#define __KINDRV_TYPES_H_
36 ERROR_USB_DEVICE = 102,
37 ERROR_USB_INTERFACE = 103,
39 ERROR_USB_INTERRUPT = 201,
40 ERROR_USB_SHORT_WRITE = 202,
41 ERROR_USB_SHORT_READ = 203,
43 ERROR_CMD_ID_MISMATCH = 301,
47 POSITION_NO_MOVEMENT = 0,
48 POSITION_CARTESIAN = 1,
53} jaco_position_type_t;
62 MODE_NORMAL_TO_READY = 0,
63 MODE_READY_STANDBY = 1,
64 MODE_READY_TO_RETRACT = 2,
65 MODE_RETRACT_STANDBY = 3,
66 MODE_RETRACT_TO_READY = 4,
89 float finger_position[3];
101typedef unsigned short jaco_joystick_button_t[16];
116} jaco_joystick_axis_t;
128 float acceleration[3];
129 float joint_temperature[6];
130 float finger_temperature[3];
141 float finger_position[3];
147 unsigned char data[112];
152 char organization[20];
156 char temp_buffer[12];
202 unsigned char data[64];
Basic trajectory struct.
Definition types.h:93
jaco_position_t target
Definition types.h:94
jaco_hand_mode_t hand_mode
Definition types.h:96
jaco_position_type_t pos_type
Definition types.h:97
float time_delay
Definition types.h:95
Struct containing the client information and configuration.
Definition types.h:145
Struct for joystick axis movement. Make sure to initialze with 0s!
Definition types.h:104
float trans_lr
Definition types.h:108
float wrist_rot
Definition types.h:113
float trans_rot
Definition types.h:110
float wrist_fb
Definition types.h:111
float wrist_lr
Definition types.h:112
float trans_fb
Definition types.h:109
Each joystick action (button,axis) as a whole is represented by one of this struct....
Definition types.h:119
jaco_joystick_axis_t axis
Definition types.h:121
jaco_joystick_button_t button
Definition types.h:120
Jaco universal position struct.
Definition types.h:81
Struct that holds values of various sensors of the robot.
Definition types.h:125
float voltage
Definition types.h:126
float current
Definition types.h:127
User position struct.
Definition types.h:134
jaco_position_t cartesian_pos
Definition types.h:137
jaco_hand_mode_t hand_mode
Definition types.h:140
float delay
Definition types.h:136
jaco_position_type_t pos_type
Definition types.h:135
jaco_position_t angular_pos
Definition types.h:138
usb_packet_header_t header
Definition types.h:204