119 friend class SickNAV200;
130 int GetVersionNumber();
131 char* GetVersionString();
132 short GetDeviceSerial();
133 bool rotateDirection(uint8_t direction);
134 bool GetReflectorPosition(uint8_t layer, uint8_t number,
PositionXY & reflector);
135 bool ChangeReflectorPosition(uint8_t layer, uint8_t number,
int newX,
int newY);
136 bool InsertReflectorPosition(uint8_t layer, uint8_t number,
int X,
int Y);
137 bool DeleteReflectorPosition(uint8_t layer, uint8_t number,
PositionXY & reflector);
140 int GetReflectorRadius(uint8_t layer);
141 bool SetReflectorRadius(uint8_t layer, uint8_t radius);
145 int StartMapping(uint8_t layer,
int X,
int Y,
short orientation, uint8_t radius);
146 int StartMappingMeasurement(uint8_t layer, uint8_t scans,
int X,
int Y,
short orientation, uint8_t radius);
147 int StartNegativeMappingMeasurement(uint8_t layer, uint8_t scans,
int X,
int Y,
short orientation, uint8_t radius);
148 bool MappingPosition(uint8_t layer, uint8_t number,
PositionXY & reflector);
151 bool EnterPositioning();
152 bool EnterPositioningInput(uint8_t NumberOfMeasurements);
153 bool GetPositionAuto(
LaserPos & laserPosition);
154 bool GetPositionSpeed(
short speedX,
short speedY,
LaserPos & laserPosition);
155 bool GetPositionSpeedVelocity(
short speedX,
short speedY,
short velocity,
LaserPos & laserPosition);
156 bool GetPositionSpeedVelocityAbsolute(
short speedX,
short speedY,
short velocity,
LaserPos & laserPosition);
157 bool ChangeLayer(uint8_t layer);
158 bool ChangeLayerDefPosition(uint8_t layer,
int X,
int Y,
short orientation);
159 bool SetActionRadii(
int min,
int max);
160 bool SelectNearest(uint8_t N_nearest);
164 bool GetUploadTrans(uint8_t layer,
ReflectorData & reflector);
166 bool EnterDownload();
167 bool DownloadReflector(uint8_t layer, uint8_t number,
int X,
int Y);
175 uint8_t receivedBuffer[BUFFER_SIZE];
180 void PrintErrorMsg(
void);
182 int ReadFromNav200(
int timeout_usec=5000000);
183 int WriteCommand(
char mode,
char function,
int dataLength, uint8_t * data);
184 uint8_t CreateCRC(uint8_t* data, ssize_t len);