servo_rhand.h

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#define SERVOS 6

#define BUFSIZE 32

#ifdef SIMULATION
const char* urdf_name = URDF_PATH "rhand_model.urdf";
const char* joint_name [SERVOS] =
{
    "right_arm_to_wrist", "right_palm_to_thumb", "right_palm_to_index",
    "right_palm_to_medius", "right_palm_to_ring", "right_palm_to_pinky",
};
#endif

uint8_t limit [SERVOS] [2] = {
    { 125, 160 }, {  50, 160 }, {  55, 155 },
    {  35, 155 }, {  45, 145 }, {  55, 145 },
};
uint8_t default_pos [SERVOS] = { 0, 0, 0, 0, 0, 0 };
uint8_t reverse [SERVOS] = { 1, 1, 1, 1, 1, 1 };
uint8_t pin_offset = 2;

enum
{
    VERBOSE = 0,
    BOARD_ID = 181,
    DEBUG_RX_PIN = 1,
    DEBUG_TX_PIN = 0,
    CMD_RX_PIN = 1,
    CMD_TX_PIN = 0,
    SERIAL_BAUDRATE = 9600,
};

int getServoIndexFromID (uint8_t servo_id)
{
    if (servo_id >= SERVOS || servo_id < 0)
    {
        return -1;
    }
    return servo_id;
}

int getServoIDFromIndex (uint8_t servo_index)
{
    if (servo_index >= SERVOS || servo_index < 0)
    {
        return -1;
    }
    return servo_index;
}

int getServoPinFromIndex (uint8_t servo_index)
{
    if (servo_index >= SERVOS || servo_index < 0)
    {
        return -1;
    }
    return servo_index + pin_offset;
}