From b7bd98373f11326e3d23a08e9d78bfadfcc03aa4 Mon Sep 17 00:00:00 2001 From: Jonas Arnold Date: Mon, 12 Dec 2022 17:46:07 +0100 Subject: [PATCH] from ADIS_HS2022: update robot table --- ADIS_Sumo_Styger/Sumo/AdoptToHW.c | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/ADIS_Sumo_Styger/Sumo/AdoptToHW.c b/ADIS_Sumo_Styger/Sumo/AdoptToHW.c index 15dce8f..33ddfa3 100644 --- a/ADIS_Sumo_Styger/Sumo/AdoptToHW.c +++ b/ADIS_Sumo_Styger/Sumo/AdoptToHW.c @@ -26,14 +26,14 @@ typedef struct { static const RobotHW_Config RobotHWConfigTable[] = { /*! \todo ADIS: The following table needs to be completed and verified for all robots */ {.id=ID_ROBOT_E0, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ - {.id=ID_ROBOT_E1, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ + {.id=ID_ROBOT_E1, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=FALSE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ {.id=ID_ROBOT_E2, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, {.id=ID_ROBOT_E3, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=FALSE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified*/ - {.id=ID_ROBOT_E4, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, + {.id=ID_ROBOT_E4, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=FALSE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified*/ {.id=ID_ROBOT_E5, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, - {.id=ID_ROBOT_E6, .version=ROBOT_HW_V1, .invertDirLeft=FALSE, .invertDirRight=FALSE, .swapQuadLeft=TRUE,.swapQuadRight=TRUE }, /* verified */ + {.id=ID_ROBOT_E6, .version=ROBOT_HW_V1, .invertDirLeft=FALSE, .invertDirRight=FALSE, .swapQuadLeft=TRUE,.swapQuadRight=FALSE }, /* verified */ {.id=ID_ROBOT_E7, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, - {.id=ID_ROBOT_E8, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, + {.id=ID_ROBOT_E8, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=FALSE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ {.id=ID_ROBOT_E9, .version=ROBOT_HW_V1, .invertDirLeft=TRUE, .invertDirRight=FALSE, .swapQuadLeft=TRUE,.swapQuadRight=FALSE }, /* verified */ {.id=ID_ROBOT_E10, .version=ROBOT_HW_V1, .invertDirLeft=TRUE, .invertDirRight=FALSE, .swapQuadLeft=TRUE,.swapQuadRight=FALSE }, /* verified */ {.id=ID_ROBOT_E12, .version=ROBOT_HW_V1, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, @@ -43,16 +43,18 @@ static const RobotHW_Config RobotHWConfigTable[] = {.id=ID_ROBOT_E18, .version=ROBOT_HW_V1, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, {.id=ID_ROBOT_E27, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, + {.id=ID_ROBOT_E34, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, + {.id=ID_ROBOT_L0, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, {.id=ID_ROBOT_L1, .version=ROBOT_HW_V1, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, {.id=ID_ROBOT_L3, .version=ROBOT_HW_V1, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, - {.id=ID_ROBOT_L17, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, + {.id=ID_ROBOT_L17, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ {.id=ID_ROBOT_L20, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ {.id=ID_ROBOT_R0, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, {.id=ID_ROBOT_R8, .version=ROBOT_HW_V1, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, {.id=ID_ROBOT_R9, .version=ROBOT_HW_V1, .invertDirLeft=FALSE, .invertDirRight=FALSE, .swapQuadLeft=TRUE,.swapQuadRight=FALSE }, /* verified */ - {.id=ID_ROBOT_R23, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, + {.id=ID_ROBOT_R23, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=FALSE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ {.id=ID_ROBOT_R27, .version=ROBOT_HW_V2, .invertDirLeft=FALSE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, {.id=ID_ROBOT_R28, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, {.id=ID_ROBOT_R29, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, @@ -62,7 +64,7 @@ static const RobotHW_Config RobotHWConfigTable[] = {.id=ID_ROBOT_R36, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, {.id=ID_ROBOT_R37, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=FALSE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ {.id=ID_ROBOT_R44, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=TRUE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ - {.id=ID_ROBOT_R45, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=FALSE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, + {.id=ID_ROBOT_R45, .version=ROBOT_HW_V2, .invertDirLeft=TRUE, .invertDirRight=FALSE, .swapQuadLeft=FALSE,.swapQuadRight=FALSE }, /* verified */ }; static const RobotHW_Config *GetRobotHWDesc(ID_Robot_e id) {