v24_commands.h

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00001 #ifndef __V24_COMMANDS_H__
00002 #define __V24_COMMANDS_H__
00003 
00004 
00005 // V24 Kommandos
00006 #define V24_COMMAND_SYNC_COMMAND        0x00  // sync command (FROM GUI)
00007 #define V24_COMMAND_SYNC_OK_COMMAND          0xff  // acknowledge synchronization (TO GUI)
00008 
00009 #define V24_COMMAND_LED_ON              0x01  // LED Test "on" (FROM GUI)
00010 #define V24_COMMAND_LED_OFF             0x02  // LED Test "off" (FROM GUI)
00011 
00012 #define V24_COMMAND_GET_GAMMA           0x03  // set gamma to GUI (FROM GUI)
00013 #define V24_COMMAND_SET_GAMMA           0x04  // set local gamma (FROM GUI, TO GUI)
00014 
00015 #define V24_COMMAND_SET_GRIDSIZE        0x05  // set grid size (TO GUI)
00016 #define V24_COMMAND_GET_GRIDSIZE        0x06  // send grid size to GUI (FROM GUI)
00017 
00018 #define V24_COMMAND_START_WALKING       0x07  // walk current policy (FROM GUI)
00019 #define V24_COMMAND_STOP_WALKING        0x08  // stop walking (FROM GUI)
00020 
00021 #define V24_COMMAND_SET_STATE           0x09  // set a state (value+rewards) (FROM GUI, TO GUI)
00022 #define V24_COMMAND_GET_STATE           0x0A  // send a state to the GUI (value+rewards) (FROM GUI)
00023 
00024 #define V24_COMMAND_WRITE_RAM_BYTES          0x0B  // (Ramtest) write 16 bytes into the memory (FROM GUI, TO GUI)
00025 #define V24_COMMAND_READ_RAM_BYTES      0x0C  // (Ramtest) send 16 bytes from the memory to the GUI (FROM GUI)
00026 
00027 #define V24_COMMAND_EXPLORE_FEEDBACK         0x0D  // explore environment (FROM GUI)
00028 
00029 #define V24_COMMAND_COMMAND_OK               0x0E  // signal that command arrived successfully (TO GUI)
00030 #define V24_COMMAND_COMMAND_ERROR       0x0F  // signal that command that an error occured  (TO GUI)
00031 
00032 #define V24_COMMAND_GET_CURRENT_STATE_MODE_ITERATIONS  0x10  // get current state, mode (FROM GUI)
00033 #define V24_COMMAND_SET_CURRENT_STATE_MODE_ITERATIONS  0x11  // send current state, mode and iteration# to GUI and iteration# (TO GUI)
00034 
00035 #define V24_COMMAND_SET_ALL_STATES_AND_GAMMA      0x12  // set all states (values+rewards) (FROM GUI, TO GUI)
00036 #define V24_COMMAND_GET_ALL_STATES_AND_GAMMA      0x13  // get all states (values+rewards) (FROM GUI)
00037 
00038 #define V24_COMMAND_GET_RAMSIZE                   0x14  // get memory size (FROM GUI)
00039 #define V24_COMMAND_SET_RAMSIZE                   0x15  // send memory size (TO GUI)
00040 
00041 #define V24_COMMAND_START_LEARNING           0x16  // robot should only perform value-iteration (FROM GUI)
00042 
00043 #define V24_COMMAND_GET_DISTANCE             0x17  // get distance covered (FROM GUI)
00044 #define V24_COMMAND_SET_DISTANCE             0x18  // set distance covered (TO GUI)
00045 #define V24_COMMAND_RESET_DISTANCE_COUNTER        0x19  // reset distance counter (FROM GUI)
00046 
00047 #define V24_COMMAND_SET_EXPLORATION_CONFIG        0x1A  // set exploration mode+parameter (FROM GUI, TO GUI)
00048 #define V24_COMMAND_GET_EXPLORATION_CONFIG        0x1C  // get exploration mode+parameter (FROM GUI)
00049 
00050 #define V24_COMMAND_WALK_AND_RETURN               0x1B  // perform next action and return reward (FROM GUI)
00051 #define V24_COMMAND_WALK_AND_RETURN_RESPONSE      0x1C  // returns reward + successor state (TO GUI)
00052 
00053 
00054 #define V24_COMMAND_GET_DEBUG                0x1D // returns user defined debug information (FROM GUI)
00055 
00056 #define V24_COMMAND_GET_CURRENT_STATE             0x1E // request for current robot state (FROM GUI)
00057 #define V24_COMMAND_SET_CURRENT_STATE             0x1F // response for current robot state (TO GUI)
00058 
00059 
00060 // V24 Servo Data
00061 #define V24_DATA_SERVO_X      0x01
00062 #define V24_DATA_SERVO_Y      0x02
00063 #define V24_DATA_SERVO_Z      0x03
00064 
00065 // Error-Codes
00066 #define V24_ERRORCODE_UNKNOWN_COMMAND             0x01
00067 #define V24_ERRORCODE_GRIDSIZE_TOO_LARGE          0x02
00068 #define V24_ERRORCODE_SIZE_ERROR             0x03
00069 
00070 
00071 #endif
Generated on Fri Oct 8 17:10:07 2010 for Crawling Robot Microcontroller Software by  doxygen 1.6.3