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server
drivers
mixed
rflex
rflex_commands.h
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/* Player - One Hell of a Robot Server
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* Copyright (C) 2000
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* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
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*
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifndef RFLEX_COMMANDS_H
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#define RFLEX_COMMANDS_H
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int
rflex_open_connection(
char
*dev_name,
int
*fd);
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int
rflex_close_connection(
int
*fd);
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void
rflex_sonars_on(
int
fd);
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void
rflex_sonars_off(
int
fd);
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void
rflex_ir_on(
int
fd);
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void
rflex_ir_off(
int
fd);
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void
rflex_brake_on(
int
fd);
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void
rflex_brake_off(
int
fd);
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void
rflex_odometry_off(
int
fd );
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void
rflex_odometry_on(
int
fd,
long
period );
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void
rflex_motion_set_defaults(
int
fd);
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void
rflex_initialize(
int
fd,
int
trans_acceleration,
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int
rot_acceleration,
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int
trans_pos,
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int
rot_pos);
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void
rflex_update_status(
int
fd,
int
*distance,
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int
*bearing,
int
*t_vel,
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int
*r_vel);
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void
rflex_update_system(
int
fd,
int
*battery,
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int
*brake);
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int
rflex_update_sonar(
int
fd,
int
num_sonars,
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int
*ranges);
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void
rflex_update_bumpers(
int
fd,
int
num_bumpers,
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char
*values);
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void
rflex_update_ir(
int
fd,
int
num_irs,
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unsigned
char
*ranges);
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void
rflex_set_velocity(
int
fd,
long
t_vel,
long
r_vel,
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long
acceleration);
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void
rflex_stop_robot(
int
fd,
int
deceleration);
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//int clear_incoming_data(int fd);
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#endif
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