Overview

The aGarciaDefs.tea file contains constants used in both the TEA programs loaded into the Garcia robot and the Garcia API running on a host computer.  This file is located in the aSystem subfolder of the main brainstem directory.

Constants are declared with #define statements.  The #define statement and comment styles are identical in both TEA and C/C++ so this file is used when compiling code in both languages.  The values are subject to change without warning.  Only the defined names should be used to access the constants.  Some of the constants are only used in TEA programs while others are only used in Garcia API routines.

Naming Conventions

Names for constants begin with aGARCIA_ .  Next comes the module label associated with the constant, either MOTO_ or GP_ .  Additional labels are appended after the module label and may be separated with underscores.

A few other conventions are used in the constant names.  A PADB_ label indicates the location of a single-byte value stored in the scratch pad.  A PADS_ label indicates the starting location of a two-byte value stored in the scratch pad.  After the module label, a constant for an analog input will have a label starting with A and a constant for a digital IO will have a label starting with D .  The PID_ label indicates a TEA process ID (not to be confused with PID motion control values).  The FILE_ label indicates a TEA file slot.

Unit Constants

These constants define codes for selecting distance and angle measurement units.

Drive Train Constants

The comments in this section describe the calculations and nominal values for calculating the relationships between encoder ticks and units of rotational or straight motion.  The defined values are scaling factors for a typical robot.  Small improvements in motion accuracy may be gained by fine-tuning these values, but this is not recommended.

Error Values

These are the codes that may be returned by a primitive when it terminates execution.

Rear Sensor Control Flags

These are flags that control the operation of the rear sensor checking routine in the gMonitorGP program that runs on the GP 2.0 processor.  These flags may be ORed together and written to the aGARCIA_GP_PADB_REARCTRL scratch pad byte.

Motion Termination Flags

These are flags that determine what sensors may terminate execution of a primitive.  Range finders may terminate a primitive when they pass a threshold.  These flags may be ORed together and written to the aGARCIA_MOTO_PADB_ENDFLAGS scratch pad byte.

Execution Control Flags

These are flags that define user-controlled conditions for terminating a primitive.  These flags may be ORed together and written to the aGARCIA_MOTO_PADB_EXEFLAGS scratch pad byte.

Wallhug Modes

These codes are described in the documentation for the hug primitive.

Align Modes

These codes are described in the documentation for the align primitive.

Default Data

This is a "catch all" category for constants that may be added as needed.

Moto IO Constants

These constants identify which devices are associated with the IO pins on the Moto 1.0 processor, as well as the indexes for the left and right motor channels.

Moto Shared Data

These constants identify locations of scratch pad and counter RAM in the Moto 1.0 processor that are reserved for system data.

Moto File, Process, and Reflex Assignments

These constants identify TEA file slots dedicated to primitives, which TEA process slots are assigned to the monitor, the primitives, and user programs, and reflex IDs used in the Moto processor.

GP IO Constants

These constants identify which devices are associated with the IO pins on the GP 2.0 processor.

GP Shared Data

These constants identify locations of scratch pad and counter RAM in the GP 2.0 processor that are reserved for system data.

GP File, Process, and Reflex Assignments

These constants identify TEA file slots dedicated to primitives, which TEA process slots are assigned to the monitor, the primitives, and user programs, and reflex IDs used in the GP 2.0 processor.