rflex_commands.h
00001 /*  Player - One Hell of a Robot Server
00002  *  Copyright (C) 2000
00003  *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
00004  *
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 
00022 #ifndef RFLEX_COMMANDS_H
00023 #define RFLEX_COMMANDS_H
00024 
00025   int rflex_open_connection(char *dev_name, int *fd);
00026   int rflex_close_connection(int *fd);
00027 
00028   void rflex_sonars_on(int fd);
00029   void rflex_sonars_off(int fd);
00030 
00031   void rflex_ir_on(int fd);
00032   void rflex_ir_off(int fd);
00033 
00034   void rflex_brake_on(int fd);
00035   void rflex_brake_off(int fd);
00036 
00037   void rflex_odometry_off( int fd );
00038   void rflex_odometry_on( int fd, long period );
00039 
00040   void rflex_motion_set_defaults(int fd);
00041 
00042   void rflex_initialize(int fd, int trans_acceleration,
00043                                int rot_acceleration,
00044                                int trans_pos,
00045                                int rot_pos);
00046 
00047   void rflex_update_status(int fd, int *distance, 
00048                                   int *bearing, int *t_vel,
00049                                   int *r_vel);
00050 
00051   void rflex_update_system(int fd, int *battery,
00052                                    int *brake);
00053 
00054   int rflex_update_sonar(int fd, int num_sonars,
00055                                  int *ranges);
00056   void rflex_update_bumpers(int fd, int num_bumpers,
00057                                    char *values);
00058   void rflex_update_ir(int fd, int num_irs,
00059                              unsigned char *ranges);
00060 
00061   void rflex_set_velocity(int fd, long t_vel, long r_vel, 
00062                                  long acceleration);
00063   void rflex_stop_robot(int fd, int deceleration);
00064 
00065 //int clear_incoming_data(int fd);
00066 
00067 #endif

Last updated 12 September 2005 21:38:45