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from ADIS_HS2022: update robot table

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Jonas Arnold 4 years ago
parent 77bd5c3349
commit b7bd98373f
1 changed files with 9 additions and 7 deletions
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  1. 16
      ADIS_Sumo_Styger/Sumo/AdoptToHW.c

16
ADIS_Sumo_Styger/Sumo/AdoptToHW.c
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@ -26,14 +26,14 @@ typedef struct {
static const RobotHW_Config RobotHWConfigTable[] = static const RobotHW_Config RobotHWConfigTable[] =
{ /*! \todo ADIS: The following table needs to be completed and verified for all robots */ { /*! \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_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_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_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_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_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_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_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 }, {.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_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_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_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_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_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_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_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_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_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_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_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 }, {.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_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_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_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) { static const RobotHW_Config *GetRobotHWDesc(ID_Robot_e id) {

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