forked from hybridgroup/gobot
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge pull request hybridgroup#168 from hybridgroup/sphero_enhancements
Sphero enhancements
- Loading branch information
Showing
4 changed files
with
256 additions
and
24 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,162 @@ | ||
| package sphero | ||
|
|
||
| // DefaultCollisionConfig returns a CollisionConfig with sensible collision defaults | ||
| func DefaultCollisionConfig() CollisionConfig { | ||
| return CollisionConfig{ | ||
| Method: 0x01, | ||
| Xt: 0x80, | ||
| Yt: 0x80, | ||
| Xs: 0x80, | ||
| Ys: 0x80, | ||
| Dead: 0x60, | ||
| } | ||
| } | ||
|
|
||
| // CollisionConfig provides configuration for the collision detection alogorithm. | ||
| // For more information refer to the offical api specification https://github.com/orbotix/DeveloperResources/blob/master/docs/Collision%20detection%201.2.pdf. | ||
| type CollisionConfig struct { | ||
| // Detection method type to use. Methods 01h and 02h are supported as | ||
| // of FW ver 1.42. Use 00h to completely disable this service. | ||
| Method uint8 | ||
| // An 8-bit settable threshold for the X (left/right) axes of Sphero. | ||
| // A value of 00h disables the contribution of that axis. | ||
| Xt uint8 | ||
| // An 8-bit settable threshold for the Y (front/back) axes of Sphero. | ||
| // A value of 00h disables the contribution of that axis. | ||
| Yt uint8 | ||
| // An 8-bit settable speed value for the X axes. This setting is ranged | ||
| // by the speed, then added to Xt to generate the final threshold value. | ||
| Xs uint8 | ||
| // An 8-bit settable speed value for the Y axes. This setting is ranged | ||
| // by the speed, then added to Yt to generate the final threshold value. | ||
| Ys uint8 | ||
| // An 8-bit post-collision dead time to prevent retriggering; specified | ||
| // in 10ms increments. | ||
| Dead uint8 | ||
| } | ||
|
|
||
| // CollisionPacket represents the response from a Collision event | ||
| type CollisionPacket struct { | ||
| // Normalized impact components (direction of the collision event): | ||
| X, Y, Z int16 | ||
| // Thresholds exceeded by X (1h) and/or Y (2h) axis (bitmask): | ||
| Axis byte | ||
| // Power that cross threshold Xt + Xs: | ||
| XMagnitude, YMagnitude int16 | ||
| // Sphero's speed when impact detected: | ||
| Speed uint8 | ||
| // Millisecond timer | ||
| Timestamp uint32 | ||
| } | ||
|
|
||
| // DefaultDataStreamingConfig returns a DataStreamingConfig with a sampling rate of 40hz, 1 sample frame per package, unlimited streaming, and will stream all available sensor information | ||
| func DefaultDataStreamingConfig() DataStreamingConfig { | ||
| return DataStreamingConfig{ | ||
| N: 10, | ||
| M: 1, | ||
| Mask: 4294967295, | ||
| Pcnt: 0, | ||
| Mask2: 4294967295, | ||
| } | ||
| } | ||
|
|
||
| // DataStreamingConfig provides configuration for Sensor Data Streaming. | ||
| // For more information refer to the offical api specification https://github.com/orbotix/DeveloperResources/blob/master/docs/Sphero_API_1.50.pdf page 28 | ||
| type DataStreamingConfig struct { | ||
| // Divisor of the maximum sensor sampling rate | ||
| N uint16 | ||
| // Number of sample frames emitted per packet | ||
| M uint16 | ||
| // Bitwise selector of data sources to stream | ||
| Mask uint32 | ||
| // Packet count 1-255 (or 0 for unlimited streaming) | ||
| Pcnt uint8 | ||
| // Bitwise selector of more data sources to stream (optional) | ||
| Mask2 uint32 | ||
| } | ||
|
|
||
| // DataStreamingPacket represents the response from a Data Streaming event | ||
| type DataStreamingPacket struct { | ||
| // 8000 0000h accelerometer axis X, raw -2048 to 2047 4mG | ||
| RawAccX int16 | ||
| // 4000 0000h accelerometer axis Y, raw -2048 to 2047 4mG | ||
| RawAccY int16 | ||
| // 2000 0000h accelerometer axis Z, raw -2048 to 2047 4mG | ||
| RawAccZ int16 | ||
| // 1000 0000h gyro axis X, raw -32768 to 32767 0.068 degrees | ||
| RawGyroX int16 | ||
| // 0800 0000h gyro axis Y, raw -32768 to 32767 0.068 degrees | ||
| RawGyroY int16 | ||
| // 0400 0000h gyro axis Z, raw -32768 to 32767 0.068 degrees | ||
| RawGyroZ int16 | ||
| // 0200 0000h Reserved | ||
| Rsrv1 int16 | ||
| // 0100 0000h Reserved | ||
| Rsrv2 int16 | ||
| // 0080 0000h Reserved | ||
| Rsrv3 int16 | ||
| // 0040 0000h right motor back EMF, raw -32768 to 32767 22.5 cm | ||
| RawRMotorBack int16 | ||
| // 0020 0000h left motor back EMF, raw -32768 to 32767 22.5 cm | ||
| RawLMotorBack int16 | ||
| // 0010 0000h left motor, PWM, raw -2048 to 2047 duty cycle | ||
| RawLMotor int16 | ||
| // 0008 0000h right motor, PWM raw -2048 to 2047 duty cycle | ||
| RawRMotor int16 | ||
| // 0004 0000h IMU pitch angle, filtered -179 to 180 degrees | ||
| FiltPitch int16 | ||
| // 0002 0000h IMU roll angle, filtered -179 to 180 degrees | ||
| FiltRoll int16 | ||
| // 0001 0000h IMU yaw angle, filtered -179 to 180 degrees | ||
| FiltYaw int16 | ||
| // 0000 8000h accelerometer axis X, filtered -32768 to 32767 1/4096 G | ||
| FiltAccX int16 | ||
| // 0000 4000h accelerometer axis Y, filtered -32768 to 32767 1/4096 G | ||
| FiltAccY int16 | ||
| // 0000 2000h accelerometer axis Z, filtered -32768 to 32767 1/4096 G | ||
| FiltAccZ int16 | ||
| // 0000 1000h gyro axis X, filtered -20000 to 20000 0.1 dps | ||
| FiltGyroX int16 | ||
| // 0000 0800h gyro axis Y, filtered -20000 to 20000 0.1 dps | ||
| FiltGyroY int16 | ||
| // 0000 0400h gyro axis Z, filtered -20000 to 20000 0.1 dps | ||
| FiltGyroZ int16 | ||
| // 0000 0200h Reserved | ||
| Rsrv4 int16 | ||
| // 0000 0100h Reserved | ||
| Rsrv5 int16 | ||
| // 0000 0080h Reserved | ||
| Rsrv6 int16 | ||
| // 0000 0040h right motor back EMF, filtered -32768 to 32767 22.5 cm | ||
| FiltRMotorBack int16 | ||
| // 0000 0020h left motor back EMF, filtered -32768 to 32767 22.5 cm | ||
| FiltLMotorBack int16 | ||
| // 0000 0010h Reserved 1 | ||
| Rsrv7 int16 | ||
| // 0000 0008h Reserved 2 | ||
| Rsrv8 int16 | ||
| // 0000 0004h Reserved 3 | ||
| Rsrv9 int16 | ||
| // 0000 0002h Reserved 4 | ||
| Rsrv10 int16 | ||
| // 0000 0001h Reserved 5 | ||
| Rsrv11 int16 | ||
| // 8000 0000h Quaternion Q0 -10000 to 10000 1/10000 Q | ||
| Quat0 int16 | ||
| // 4000 0000h Quaternion Q1 -10000 to 10000 1/10000 Q | ||
| Quat1 int16 | ||
| // 2000 0000h Quaternion Q2 -10000 to 10000 1/10000 Q | ||
| Quat2 int16 | ||
| // 1000 0000h Quaternion Q3 -10000 to 10000 1/10000 Q | ||
| Quat3 int16 | ||
| // 0800 0000h Odometer X -32768 to 32767 cm | ||
| OdomX int16 | ||
| // 0400 0000h Odometer Y -32768 to 32767 cm | ||
| OdomY int16 | ||
| // 0200 0000h AccelOne 0 to 8000 1 mG | ||
| AccelOne int16 | ||
| // 0100 0000h Velocity X -32768 to 32767 mm/s | ||
| VeloX int16 | ||
| // 0080 0000h Velocity Y -32768 to 32767 mm/s | ||
| VeloY int16 | ||
| } |