rflex_commands.h
/* Player - One Hell of a Robot Server
* Copyright (C) 2000
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef RFLEX_COMMANDS_H
#define RFLEX_COMMANDS_H
int rflex_open_connection(char *dev_name, int *fd);
int rflex_close_connection(int *fd);
void rflex_sonars_on(int fd);
void rflex_sonars_off(int fd);
void rflex_ir_on(int fd);
void rflex_ir_off(int fd);
void rflex_brake_on(int fd);
void rflex_brake_off(int fd);
void rflex_odometry_off( int fd );
void rflex_odometry_on( int fd, long period );
void rflex_motion_set_defaults(int fd);
void rflex_initialize(int fd, int trans_acceleration,
int rot_acceleration,
int trans_pos,
int rot_pos);
void rflex_update_status(int fd, int *distance,
int *bearing, int *t_vel,
int *r_vel);
void rflex_update_system(int fd, int *battery,
int *brake);
int rflex_update_sonar(int fd, int num_sonars,
int *ranges);
void rflex_update_bumpers(int fd, int num_bumpers,
char *values);
void rflex_update_ir(int fd, int num_irs,
unsigned char *ranges);
void rflex_set_velocity(int fd, long t_vel, long r_vel,
long acceleration);
void rflex_stop_robot(int fd, int deceleration);
//int clear_incoming_data(int fd);
#endif

Last updated 12 September 2005 21:38:45