97 lines
1.5 KiB
C
Executable File
97 lines
1.5 KiB
C
Executable File
#ifndef ENUMCLASS_H
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#define ENUMCLASS_H
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// enum class UserCommand{
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// // EXIT,
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// NONE,
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// START,
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// L2_A, //used by robot
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// L2_B, //used by robot
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// L2_X, //used by robot
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// R2_A, //Arm: joint space control
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// R2_X, //Arm: Cartesian
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// R2_Y, //
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// R2_temp,
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// ARM_PASSIVE, //Arm: passive
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// ARM_CHECKJOINT_0,
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// ARM_TRAJECTORY_0,
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// ARM_SAVESTATE_0,
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// ARM_TEACH_0,
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// ARM_TEACHREPEAT_0,
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// ARM_NEXT,
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// ARM_BACKTOSTART,
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// HEAD_JOINTCTRL,
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// HEAD_TOSTART,
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// HEAD_SAVE,
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// HEAD_TURN,
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// HEAD_CALI,
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// HEAD_NEXT,
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// HEAD_DANCE01,
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// HEAD_DANCE02,
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// HEAD_DANCE03,
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// HEAD_DANCE04,
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// HEAD_DANCE05,
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// HEAD_DANCE06,
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// HEAD_DANCE07
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// };
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enum class FrameType{
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BODY,
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HIP,
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ENDEFFECTOR,
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GLOBAL
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};
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enum class FSMMode{
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NORMAL,
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CHANGE
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};
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enum class ArmFSMStateName{
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INVALID,
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PASSIVE,
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JOINTCTRL,
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CARTESIAN,
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MOVEJ,
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MOVEL,
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MOVEC,
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TRAJECTORY,
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TOSTATE,
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SAVESTATE,
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TEACH,
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TEACHREPEAT,
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CALIBRATION,
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DANCE00,
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DANCE01,
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DANCE02,
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DANCE03,
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DANCE04,
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DANCE05,
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DANCE06,
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DANCE07,
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DANCE08,
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DANCE09,
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BACKTOSTART,
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GRIPPER_OPEN,
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GRIPPER_CLOSE,
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NEXT,
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LOWCMD
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};
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enum class JointMotorType{
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SINGLE_MOTOR,
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DOUBLE_MOTOR
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};
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enum class MotorMountType{
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STATOR_FIRST,
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OUTPUT_FIRST
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};
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enum class HeadType{
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TIGER,
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DOG
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};
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#endif // ENUMCLASS_H
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