171 lines
6.0 KiB
Go
171 lines
6.0 KiB
Go
package spherocommon
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// LocatorConfig provides configuration for the Location api.
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// For more information refer to the api specification of "Orbotix Communication API"
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// see also: http://wiki.mark-toma.com/view/Sphero_API_Tutorial
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// The current (X,Y) coordinates of Sphero on the ground plane in centimeters.
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type LocatorConfig struct {
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// Determines whether calibrate commands automatically correct the yaw tare value
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Flags uint8
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// Controls how the X-plane is aligned with Sphero’s heading coordinate system.
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X int16
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// Controls how the Y-plane is aligned with Sphero’s heading coordinate system.
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Y int16
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// Controls how the X,Y-plane is aligned with Sphero’s heading coordinate system.
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YawTare int16
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}
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// CollisionConfig provides configuration for the collision detection alogorithm.
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// For more information refer to the api specification of "Orbotix Communication API"
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// see also: http://wiki.mark-toma.com/view/Sphero_API_Tutorial
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type CollisionConfig struct {
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// Detection method type to use. Methods 01h and 02h are supported as
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// of FW ver 1.42. Use 00h to completely disable this service.
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Method uint8
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// An 8-bit settable threshold for the X (left/right) axes of Sphero.
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// A value of 00h disables the contribution of that axis.
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Xt uint8
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// An 8-bit settable threshold for the Y (front/back) axes of Sphero.
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// A value of 00h disables the contribution of that axis.
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Yt uint8
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// An 8-bit settable speed value for the X axes. This setting is ranged
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// by the speed, then added to Xt to generate the final threshold value.
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Xs uint8
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// An 8-bit settable speed value for the Y axes. This setting is ranged
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// by the speed, then added to Yt to generate the final threshold value.
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Ys uint8
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// An 8-bit post-collision dead time to prevent retriggering; specified
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// in 10ms increments.
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Dead uint8
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}
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// DataStreamingConfig provides configuration for Sensor Data Streaming.
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// For more information refer to the api specification of "Orbotix Communication API"
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// see also: http://wiki.mark-toma.com/view/Sphero_API_Tutorial
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type DataStreamingConfig struct {
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// Divisor of the maximum sensor sampling rate
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N uint16
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// Number of sample frames emitted per packet
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M uint16
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// Bitwise selector of data sources to stream
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Mask uint32
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// Packet count 1-255 (or 0 for unlimited streaming)
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Pcnt uint8
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// Bitwise selector of more data sources to stream (optional)
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Mask2 uint32
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}
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// PowerStatePacket contains all data relevant to the power state of the sphero
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type PowerStatePacket struct {
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// record Version Code
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RecVer uint8
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// High-Level State of the Battery; 1=charging, 2=battery ok, 3=battery low, 4=battery critical
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PowerState uint8
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// Battery Voltage, scaled in 100th of a Volt, 0x02EF would be 7.51 volts
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BattVoltage uint16
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// Number of charges in the total lifetime of the sphero
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NumCharges uint16
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// Seconds awake since last charge
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TimeSinceChg uint16
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}
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// CollisionPacket represents the response from a Collision event
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type CollisionPacket struct {
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// Normalized impact components (direction of the collision event):
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X, Y, Z int16
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// Thresholds exceeded by X (1h) and/or Y (2h) axis (bitmask):
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Axis byte
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// Power that cross threshold Xt + Xs:
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XMagnitude, YMagnitude int16
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// Sphero's speed when impact detected:
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Speed uint8
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// Millisecond timer
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Timestamp uint32
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}
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// DataStreamingPacket represents the response from a Data Streaming event
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type DataStreamingPacket struct {
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// 8000 0000h accelerometer axis X, raw -2048 to 2047 4mG
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RawAccX int16
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// 4000 0000h accelerometer axis Y, raw -2048 to 2047 4mG
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RawAccY int16
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// 2000 0000h accelerometer axis Z, raw -2048 to 2047 4mG
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RawAccZ int16
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// 1000 0000h gyro axis X, raw -32768 to 32767 0.068 degrees
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RawGyroX int16
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// 0800 0000h gyro axis Y, raw -32768 to 32767 0.068 degrees
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RawGyroY int16
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// 0400 0000h gyro axis Z, raw -32768 to 32767 0.068 degrees
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RawGyroZ int16
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// 0200 0000h Reserved
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Rsrv1 int16
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// 0100 0000h Reserved
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Rsrv2 int16
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// 0080 0000h Reserved
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Rsrv3 int16
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// 0040 0000h right motor back EMF, raw -32768 to 32767 22.5 cm
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RawRMotorBack int16
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// 0020 0000h left motor back EMF, raw -32768 to 32767 22.5 cm
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RawLMotorBack int16
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// 0010 0000h left motor, PWM, raw -2048 to 2047 duty cycle
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RawLMotor int16
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// 0008 0000h right motor, PWM raw -2048 to 2047 duty cycle
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RawRMotor int16
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// 0004 0000h IMU pitch angle, filtered -179 to 180 degrees
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FiltPitch int16
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// 0002 0000h IMU roll angle, filtered -179 to 180 degrees
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FiltRoll int16
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// 0001 0000h IMU yaw angle, filtered -179 to 180 degrees
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FiltYaw int16
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// 0000 8000h accelerometer axis X, filtered -32768 to 32767 1/4096 G
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FiltAccX int16
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// 0000 4000h accelerometer axis Y, filtered -32768 to 32767 1/4096 G
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FiltAccY int16
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// 0000 2000h accelerometer axis Z, filtered -32768 to 32767 1/4096 G
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FiltAccZ int16
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// 0000 1000h gyro axis X, filtered -20000 to 20000 0.1 dps
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FiltGyroX int16
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// 0000 0800h gyro axis Y, filtered -20000 to 20000 0.1 dps
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FiltGyroY int16
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// 0000 0400h gyro axis Z, filtered -20000 to 20000 0.1 dps
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FiltGyroZ int16
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// 0000 0200h Reserved
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Rsrv4 int16
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// 0000 0100h Reserved
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Rsrv5 int16
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// 0000 0080h Reserved
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Rsrv6 int16
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// 0000 0040h right motor back EMF, filtered -32768 to 32767 22.5 cm
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FiltRMotorBack int16
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// 0000 0020h left motor back EMF, filtered -32768 to 32767 22.5 cm
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FiltLMotorBack int16
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// 0000 0010h Reserved 1
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Rsrv7 int16
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// 0000 0008h Reserved 2
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Rsrv8 int16
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// 0000 0004h Reserved 3
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Rsrv9 int16
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// 0000 0002h Reserved 4
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Rsrv10 int16
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// 0000 0001h Reserved 5
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Rsrv11 int16
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// 8000 0000h Quaternion Q0 -10000 to 10000 1/10000 Q
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Quat0 int16
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// 4000 0000h Quaternion Q1 -10000 to 10000 1/10000 Q
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Quat1 int16
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// 2000 0000h Quaternion Q2 -10000 to 10000 1/10000 Q
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Quat2 int16
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// 1000 0000h Quaternion Q3 -10000 to 10000 1/10000 Q
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Quat3 int16
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// 0800 0000h Odometer X -32768 to 32767 cm
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OdomX int16
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// 0400 0000h Odometer Y -32768 to 32767 cm
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OdomY int16
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// 0200 0000h AccelOne 0 to 8000 1 mG
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AccelOne int16
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// 0100 0000h Velocity X -32768 to 32767 mm/s
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VeloX int16
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// 0080 0000h Velocity Y -32768 to 32767 mm/s
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VeloY int16
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}
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