rflex_commands.h
00001 #ifndef RFLEX_COMMANDS_H
00002 #define RFLEX_COMMANDS_H
00003
00004 int rflex_open_connection(char *dev_name, int *fd);
00005 int rflex_close_connection(int *fd);
00006
00007 void rflex_sonars_on(int fd);
00008 void rflex_sonars_off(int fd);
00009
00010 void rflex_ir_on(int fd);
00011 void rflex_ir_off(int fd);
00012
00013 void rflex_brake_on(int fd);
00014 void rflex_brake_off(int fd);
00015
00016 void rflex_odometry_off( int fd );
00017 void rflex_odometry_on( int fd, long period );
00018
00019 void rflex_motion_set_defaults(int fd);
00020
00021 void rflex_initialize(int fd, int trans_acceleration,
00022 int rot_acceleration,
00023 int trans_pos,
00024 int rot_pos);
00025
00026 void rflex_update_status(int fd, int *distance,
00027 int *bearing, int *t_vel,
00028 int *r_vel);
00029
00030 void rflex_update_system(int fd, int *battery,
00031 int *brake);
00032
00033 int rflex_update_sonar(int fd, int num_sonars,
00034 int *ranges);
00035 void rflex_update_bumpers(int fd, int num_bumpers,
00036 char *values);
00037 void rflex_update_ir(int fd, int num_irs,
00038 unsigned char *ranges);
00039
00040 void rflex_set_velocity(int fd, long t_vel, long r_vel,
00041 long acceleration);
00042 void rflex_stop_robot(int fd, int deceleration);
00043
00044
00045
00046 #endif
Last updated 12 September 2005 21:38:45
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