DeviceSpec.hpp

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#ifndef SPIDAR_DEVICE_SPEC_HPP
#define SPIDAR_DEVICE_SPEC_HPP

#include <cstdint>
#include <string>

namespace Spidar
{
static const size_t     X = 0;
static const size_t     Y = 1;
static const size_t     Z = 2;

namespace Core
{
#define DEVICE_SPEC_VERSION 0x16033101

struct DeviceSpec
{
    typedef float ValueType;                        

    static const size_t MOTOR_COUNT = 8;            

    uint32_t    version;                            
    std::string deviceName;                         
    uint32_t    deviceID;                           
    uint32_t    serialNumber;                       

    ValueType   encoderResolution[MOTOR_COUNT];     
    ValueType   pulleyRadius[MOTOR_COUNT];          
    ValueType   encoderDirection[MOTOR_COUNT];      

    ValueType   terminalVoltage[MOTOR_COUNT];       
    ValueType   terminalResistance[MOTOR_COUNT];    
    ValueType   torqueConstant[MOTOR_COUNT];        
    ValueType   speedConstant[MOTOR_COUNT];         
    ValueType   noLoadCurrent[MOTOR_COUNT];         

    ValueType   maxTension[MOTOR_COUNT];            
    ValueType   minTension[MOTOR_COUNT];            
    ValueType   springTension[MOTOR_COUNT];         

    ValueType   maxDuration;                        

    ValueType   gripRadius;                         

    ValueType   gripPosition[MOTOR_COUNT][3];       
    ValueType   motorPosition[MOTOR_COUNT][3];      

    ValueType   majorLoopTimeConstant;              
    uint32_t    minorLoopVelocityFilterGain;        
    uint32_t    minorLoopForceFilterGain;           

}; // end of struct DeviceSpec.

} // end of namespace Core.
} // end of namespace Spidar.

#endif // SPIDAR_DEVICE_SPEC_HPP

// end of file.