header.h

东芝机器人处理器代码,sh2有时间学习很好！

/************************************************************
 *  PHR-001 (PINO-class Humanoid Robot 001) Behavior Command Program
 *  
 *  header.h 
 *
 *       File Created: 28, Mar. 2001 by  F.Yamasaki
 *       Modified: 28, Jun. 2001     by  K.Endo
 *       Annotations: 15, Oct. 2001  by  F. Yamasaki, K. Endo, H. Kitano
 *
 *  Copyright (C) 2001 Kitano Symbiotic Systems Project, 
 *  Japan Science and Technology Corp.
 *  
 *  This file is part of PHR-001.
 *  
 *  PHR-001 is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *  
 *  PHR-001 is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *  
 *  You should have received a copy of the GNU General Public License
 *  along with PHR-001; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *********************************************************************/
#define	S_getc()		(_s_getc())

#define	F0_OFFSET	-101
#define	F1_OFFSET	-105
#define	F2_OFFSET	-105
#define	F3_OFFSET	-105
#define	F4_OFFSET	-101
#define	F5_OFFSET	-105
#define	F6_OFFSET	-104
#define	F7_OFFSET	-98

#define	ON	1
#define	OFF	0

/****************************************
*
* Following part defines range of joint
* angle allowed in each joint.
*
******************************************/

#define	CH13MAX	Pulse[13]+0x0042  /*0x32*/
#define	CH13MIN	Pulse[13]-0x0042  /*0x32*/

#define	CH14MAX	Pulse[14]+0x0158  /*c8*/
#define	CH14MIN	Pulse[14]
#define	CH15MAX	Pulse[15]  
#define	CH15MIN	Pulse[15]-0x00C8   /*c8*/
#define	CH17MAX	Pulse[17]
#define	CH17MIN	Pulse[17]-0x0054  /*64*/

#define	CH19MAX	Pulse[19]
#define	CH19MIN	Pulse[19]-0x0158  /*-c8*/
#define	CH20MAX	Pulse[20]+0x00B8  /*c8*/
#define	CH20MIN	Pulse[20]
#define	CH22MAX	Pulse[22]+0x0054   /*64*/
#define	CH22MIN	Pulse[22]

#define	CH24MAX	Pulse[24]+0x0032  /*32*/
#define	CH24MIN	Pulse[24]-0x0032  /*32*/
#define	CH25MAX	Pulse[25]+0x0032  /*+32*/
#define	CH25MIN	Pulse[25]-0x0032  /*-32*/