33 #define MAX_NAME_LENGTH 256
34 #define MAX_COMMAND_LENGTH 256
35 #define MAX_ACMD_SIZE 48
36 #define MAX_NUM_LOOPS 30
37 #define MAX_BUFFER_LENGTH 4096
39 #define EPSILON 0.0001
49 #define STD_TRANS_TORQUE 30000
50 #define STD_ROT_ACC 100000
51 #define STD_ROT_TORQUE 35000
60 #define SYS_LCD_DUMP 0
63 #define MOT_AXIS_GET_SYSTEM 0
64 #define MOT_AXIS_GET_MODEL 1
65 #define MOT_AXIS_GET_TARGET 2
66 #define MOT_AXIS_SET_LIMITS 3
67 #define MOT_AXIS_GET_LIMITS 4
68 #define MOT_AXIS_SET_POS_LIMITS 5
69 #define MOT_AXIS_GET_POS_LIMITS 6
70 #define MOT_AXIS_SET_DIR 7
71 #define MOT_AXIS_SET_POS 8
72 #define MOT_AXIS_GET_MODE 9
73 #define MOT_SET_DEFAULTS 10
74 #define MOT_BRAKE_SET 11
75 #define MOT_BRAKE_RELEASE 12
76 #define MOT_SYSTEM_REPORT 33
77 #define MOT_SYSTEM_REPORT_REQ 34
78 #define MOT_GET_NAXES 65
79 #define MOT_SET_GEARING 66
80 #define MOT_GET_GEARING 67
81 #define MOT_MOTOR_SET_MODE 68
82 #define MOT_MOTOR_GET_MODE 69
83 #define MOT_MOTOR_SET_PARMS 70
84 #define MOT_MOTOR_GET_PARMS 71
85 #define MOT_MOTOR_SET_LIMITS 72
86 #define MOT_MOTOR_GET_LIMITS 73
87 #define MOT_MOTOR_GET_DATA 74
88 #define MOT_AXIS_SET_PARMS 75
89 #define MOT_AXIS_GET_PARMS 76
90 #define MOT_AXIS_SET_PWM_LIMIT 77
91 #define MOT_AXIS_GET_PWM_LIMIT 78
92 #define MOT_AXIS_SET_PWM 79
93 #define MOT_AXIS_GET_PWM 80
96 #define SONAR_GET_UPDATE 1
97 #define SONAR_REPORT 2
99 #define DIO_REPORTS_REQ 0
101 #define DIO_GET_UPDATE 2
108 #define JSTK_GET_STATE 0
110 enum PARITY_TYPE { N, E, O };
113 char ttyport[MAX_NAME_LENGTH];
115 enum PARITY_TYPE parity;
Definition: rflex-info.h:112