ERSP Player driver: driver/include/scorpion.inc Source File

00001 /* Scorpion robot definitions:
00002  *
00003  * SCORPION_INTERFACE(player-interface, interface-name)
00004  * SCORPION_(robot-dev-ID, ersp-dev-type, ersp-dev-id)
00005  */
00006 
00007 /* General interfaces/devices: */
00008 SCORPION_INTERFACE(position2d, drive)
00009 
00010    SCORPION_(DRIVE,         DRIVE,     "drive")
00011    SCORPION_(AVOID,         AVOID,     "avoidance")
00012 
00013 SCORPION_END
00014 
00015 SCORPION_INTERFACE(power, battery)
00016 
00017    SCORPION_(BATTERY,       BATTERY,   "Battery")
00018 
00019 SCORPION_END
00020 
00021 /* Bump (digital) sensors: */
00022 SCORPION_INTERFACE(bumper, front)
00023 
00024    SCORPION_(BUMP_BNW,      BUMP,      "Bump_bnw")
00025    SCORPION_(BUMP_BNE,      BUMP,      "Bump_bne")
00026 
00027 SCORPION_END
00028 
00029 SCORPION_INTERFACE(bumper, ir)
00030 
00031    /* Front/up IR (digital) sensors: */
00032    SCORPION_(IR_TN_WUP,     IR_BINARY, "IR_tn_wup")
00033    SCORPION_(IR_TN_NUP,     IR_BINARY, "IR_tn_nup")
00034    SCORPION_(IR_TN_EUP,     IR_BINARY, "IR_tn_eup")
00035 
00036    /* Front/side IR (digital) sensors: */
00037    SCORPION_(IR_TN_WDOWN,   IR_BINARY, "IR_tn_wdown")
00038    SCORPION_(IR_TN_EDOWN,   IR_BINARY, "IR_tn_edown")
00039 
00040    /* Back/side IR (digital) sensors: */
00041    SCORPION_(IR_TS_WDOWN,   IR_BINARY, "IR_ts_wdown")
00042    SCORPION_(IR_TS_EDOWN,   IR_BINARY, "IR_ts_edown")
00043 
00044 SCORPION_END
00045 
00046 SCORPION_INTERFACE(ir, range)
00047 
00048    /* Front/side IR (range) sensors: */
00049    SCORPION_(IR_BN_ENE,     IR_RANGE,  "IR_bn_ene")
00050    SCORPION_(IR_BN_WNW,     IR_RANGE,  "IR_bn_wnw")
00051    SCORPION_(IR_BN_N,       IR_RANGE,  "IR_bn_n")
00052    SCORPION_(IR_BN_NE,      IR_RANGE,  "IR_bn_ne")
00053    SCORPION_(IR_BN_NW,      IR_RANGE,  "IR_bn_nw")
00054 
00055    /* Front/east (range) sensors: */
00056    SCORPION_(IR_TE_NNW,     IR_RANGE,  "IR_te_nnw")
00057    SCORPION_(IR_TE_NNE,     IR_RANGE,  "IR_te_nne")
00058 
00059    /* Front/west (range) sensors: */
00060    SCORPION_(IR_TW_NNW,     IR_RANGE,  "IR_tw_nnw")
00061    SCORPION_(IR_TW_NNE,     IR_RANGE,  "IR_tw_nne")
00062 
00063    /* Back (range) sensors: */
00064    SCORPION_(IR_BS_W,       IR_RANGE,  "IR_bs_w")
00065    SCORPION_(IR_BS_E,       IR_RANGE,  "IR_bs_e")
00066    SCORPION_(IR_BW_S,       IR_RANGE,  "IR_bw_s")
00067    SCORPION_(IR_BE_S,       IR_RANGE,  "IR_be_s")
00068 
00069 SCORPION_END