definitions.hpp

Go to the documentation of this file.

// ****************************************************************************
// **WARNING: DO NOT CHANGE ANYTHING BELOW UNLESS YOU KNOW WHAT YOU'RE DOING!**
// ****************************************************************************

#ifndef MARTY_DEFINITIONS_HPP
#define MARTY_DEFINITIONS_HPP

#include <unistd.h>
#include <map>

#define DEBUG_MODE false

// Console printing MACROS
#define ERR(x) std::cerr << "\033[22;31;1m" << x << "\033[0m";    // RED
#define WARN(x) std::cerr << "\033[22;33;1m" << x << "\033[0m";   // YELLOW
#define INFO(x) std::cerr << "\033[22;37;1m" << x << "\033[0m";   // WHITE
#define DEBUG(x) std::cerr << "\033[22;34;1m" << x << "\033[0m";  // BLUE
#define CLEAR() std::cerr << "\x1B[2J\x1B[H"; // Clear Console

inline void sleepms(int ms) {usleep(ms * 1000);}

enum JOINTS {
  LHIP = 0,
  LTWIST,
  LKNEE,
  RHIP,
  RTWIST,
  RKNEE,
  LARM,
  RARM,
  EYES,
  AUX1,
  AUX2,
  NUMJOINTS // Number of Joints, Leave at the end!
};

const std::vector <std::string> NAMES = {
  "LHIP",
  "LTWIST",
  "LKNEE",
  "RHIP",
  "RTWIST",
  "RKNEE",
  "LARM",
  "RARM",
  "EYES",
  "AUX1",
  "AUX2"
};

const std::vector <int> JOINT_DIR = {
  1,  //   "LHIP",
  1,  //   "LTWIST",
  -1,  //   "LKNEE",
  1,  //   "RHIP",
  1,  //   "RTWIST",
  -1,  //   "RKNEE",
  1,  //   "LARM",
  -1,  //   "RARM",
  1,  //   "EYES",
  1,  //   "AUX1",
  1   //   "AUX2"
};

const std::vector <int> JOINT_MULT = {
  1,  //   "LHIP",
  1,  //   "LTWIST",
  1,  //   "LKNEE",
  1,  //   "RHIP",
  1,  //   "RTWIST",
  1,  //   "RKNEE",
  1,  //   "LARM",
  1,  //   "RARM",
  1,  //   "EYES",
  1,  //   "AUX1",
  1   //   "AUX2"
};

const std::map<std::string, int> JOINT_NAMES = {
  {"LHIP", LHIP},
  {"LTWIST", LTWIST},
  {"LKNEE", LKNEE},
  {"RHIP", RHIP},
  {"RTWIST", RTWIST},
  {"RKNEE", RKNEE},
  {"LARM", LARM},
  {"RARM", RARM},
  {"EYES", EYES},
  {"AUX1", AUX1},
  {"AUX2", AUX2}
};

# define HIP_OFFSET 100
# define TWIST_OFFSET 110
# define KNEE_OFFSET 110
# define ARM_OFFSET 300
# define EYES_OFFSET 300
# define AUX_OFFSET 110

// TODO: These should not be definitions, but in joint calibration as rosparams!
#define EYES_ANGRY   30
#define EYES_NORMAL  0
#define EYES_EXCITED -40
#define EYES_WIDE  -120

// Musical Note Frequencies
#define SILENCE    0
#define NOTE_B0    31
#define NOTE_C1    33
#define NOTE_CS1   35
#define NOTE_D1    37
#define NOTE_DS1   39
#define NOTE_E1    41
#define NOTE_F1    44
#define NOTE_FS1   46
#define NOTE_G1    49
#define NOTE_GS1   52
#define NOTE_A1    55
#define NOTE_AS1   58
#define NOTE_B1    62
#define NOTE_C2    65
#define NOTE_CS2   69
#define NOTE_D2    73
#define NOTE_DS2   78
#define NOTE_E2    82
#define NOTE_F2    87
#define NOTE_FS2   93
#define NOTE_G2    98
#define NOTE_GS2   104
#define NOTE_A2    110
#define NOTE_AS2   117
#define NOTE_B2    123
#define NOTE_C3    131
#define NOTE_CS3   139
#define NOTE_D3    147
#define NOTE_DS3   156
#define NOTE_E3    165
#define NOTE_F3    175
#define NOTE_FS3   185
#define NOTE_G3    196
#define NOTE_GS3   208
#define NOTE_A3    220
#define NOTE_AS3   233
#define NOTE_B3    247
#define NOTE_C4    262
#define NOTE_CS4   277
#define NOTE_D4    294
#define NOTE_DS4   311
#define NOTE_E4    330
#define NOTE_F4    349
#define NOTE_FS4   370
#define NOTE_G4    392
#define NOTE_GS4   415
#define NOTE_A4    440
#define NOTE_AS4   466
#define NOTE_B4    494
#define NOTE_C5    523
#define NOTE_CS5   554
#define NOTE_D5    587
#define NOTE_DS5   622
#define NOTE_E5    659
#define NOTE_F5    698
#define NOTE_FS5   740
#define NOTE_G5    784
#define NOTE_GS5   831
#define NOTE_A5    880
#define NOTE_AS5   932
#define NOTE_B5    988
#define NOTE_C6    1047
#define NOTE_CS6   1109
#define NOTE_D6    1175
#define NOTE_DS6   1245
#define NOTE_E6    1319
#define NOTE_F6    1397
#define NOTE_FS6   1480
#define NOTE_G6    1568
#define NOTE_GS6   1661
#define NOTE_A6    1760
#define NOTE_AS6   1865
#define NOTE_B6    1976
#define NOTE_C7    2093
#define NOTE_CS7   2217
#define NOTE_D7    2349
#define NOTE_DS7   2489
#define NOTE_E7    2637
#define NOTE_F7    2794
#define NOTE_FS7   2960
#define NOTE_G7    3136
#define NOTE_GS7   3322
#define NOTE_A7    3520
#define NOTE_AS7   3729
#define NOTE_B7    3951
#define NOTE_C8    4186
#define NOTE_CS8   4435
#define NOTE_D8    4699
#define NOTE_DS8   4978

#endif  /* MARTY_DEFINITIONS_HPP */