Home FAQ Player Stage Gazebo Contrib Documentation Publications Contributors Users Project Download Bugs/Feedback Mailing lists Radish Old news Old stuff

mother.h Go to the documentation of this file. // mother.h - wrappers for the Nomad client functions // copyright Pawel Zebrowski, Richard Vaughan 2004, released under the GPL. // converts tens of inches to millimeters int inchesToMM(int inches); // converts millimeters to tens of inches int mmToInches(int mm); // connects to the robot and performs any other connection setup that // may be required void connectToRobot(); // cleans up and disconnects from the robot void disconnectFromRobot(); // make the robot speak void speak(char* s); // initializes the robot void initRobot(); // update sensor data, to be used before reading/processing sensor data void readRobot(); // set the robot speed, turnrate, and turret in velocity mode. // Convert units first void setSpeed(int speed, int turnrate, int turret); // set te robot speed and turnrate in velocity mode. Make the turret // turn with the robot. Convert units first void setSpeed(int speed, int turnrate); // set the odometry of the robot. Set the turret the same as the base void setOdometry(int x, int y, int theta); // reset the odometry. void resetOdometry(); // retreive the x position of the robot int xPos(); int yPos(); int theta(); int speed(); int turnrate(); // updates sonarData array with the latest sonar data. Converts units void getSonar(int sonarData[16]);