forked from hybridgroup/gobot
/
ollie_packets.go
115 lines (111 loc) · 3.54 KB
/
ollie_packets.go
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package ollie
import "gobot.io/x/gobot/platforms/sphero"
// DefaultCollisionConfig returns a CollisionConfig with sensible collision defaults
func DefaultCollisionConfig() sphero.CollisionConfig {
return sphero.CollisionConfig{
Method: 0x01,
Xt: 0x20,
Yt: 0x20,
Xs: 0x20,
Ys: 0x20,
Dead: 0x60,
}
}
// PowerStatePacket contains all data relevant to the power state of the sphero
type PowerStatePacket struct {
// record Version Code
RecVer uint8
// High-Level State of the Battery; 1=charging, 2=battery ok, 3=battery low, 4=battery critical
PowerState uint8
// Battery Voltage, scaled in 100th of a Volt, 0x02EF would be 7.51 volts
BattVoltage uint16
// Number of charges in the total lifetime of the sphero
NumCharges uint16
//Seconds awake since last charge
TimeSinceChg uint16
}
// 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
}