/
sphero_packets.go
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/
sphero_packets.go
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package sphero
// DefaultLocatorConfig returns a LocatorConfig with defaults
func DefaultLocatorConfig() LocatorConfig {
return LocatorConfig{
Flags: 0x01,
X: 0x00,
Y: 0x00,
YawTare: 0x00,
}
}
// LocatorConfig provides configuration for the Location api.
// https://github.com/orbotix/DeveloperResources/blob/master/docs/Sphero_API_1.50.pdf
// The current (X,Y) coordinates of Sphero on the ground plane in centimeters.
type LocatorConfig struct {
// Determines whether calibrate commands automatically correct the yaw tare value
Flags uint8
// Controls how the X-plane is aligned with Sphero’s heading coordinate system.
X int16
// Controls how the Y-plane is aligned with Sphero’s heading coordinate system.
Y int16
// Controls how the X,Y-plane is aligned with Sphero’s heading coordinate system.
YawTare int16
}
// 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 official 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 official 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
}