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rflex-info.h Go to the documentation of this file. #ifndef RFLEX_INFO_H #define RFLEX_INFO_H #ifndef TRUE #define TRUE 1 #endif #ifndef FALSE #define FALSE 0 #endif #define MAX_NAME_LENGTH 256 #define MAX_COMMAND_LENGTH 256 #define MAX_ACMD_SIZE 48 #define MAX_NUM_LOOPS 30 #define MAX_BUFFER_LENGTH 4096 #define EPSILON 0.0001 #define TIMEOUT -1 #define WRONG 0 #define OK 1 #define B_STX 0x02 #define B_ETX 0x03 #define B_ESC 0x1b #define STD_TRANS_TORQUE 30000 #define STD_ROT_ACC 100000 #define STD_ROT_TORQUE 35000 #define SYS_PORT 1 #define MOT_PORT 2 #define JSTK_PORT 3 #define SONAR_PORT 4 #define DIO_PORT 5 #define IR_PORT 6 #define SYS_LCD_DUMP 0 #define SYS_STATUS 1 #define MOT_AXIS_GET_SYSTEM 0 #define MOT_AXIS_GET_MODEL 1 #define MOT_AXIS_GET_TARGET 2 #define MOT_AXIS_SET_LIMITS 3 #define MOT_AXIS_GET_LIMITS 4 #define MOT_AXIS_SET_POS_LIMITS 5 #define MOT_AXIS_GET_POS_LIMITS 6 #define MOT_AXIS_SET_DIR 7 #define MOT_AXIS_SET_POS 8 #define MOT_AXIS_GET_MODE 9 #define MOT_SET_DEFAULTS 10 #define MOT_BRAKE_SET 11 #define MOT_BRAKE_RELEASE 12 #define MOT_SYSTEM_REPORT 33 #define MOT_SYSTEM_REPORT_REQ 34 #define MOT_GET_NAXES 65 #define MOT_SET_GEARING 66 #define MOT_GET_GEARING 67 #define MOT_MOTOR_SET_MODE 68 #define MOT_MOTOR_GET_MODE 69 #define MOT_MOTOR_SET_PARMS 70 #define MOT_MOTOR_GET_PARMS 71 #define MOT_MOTOR_SET_LIMITS 72 #define MOT_MOTOR_GET_LIMITS 73 #define MOT_MOTOR_GET_DATA 74 #define MOT_AXIS_SET_PARMS 75 #define MOT_AXIS_GET_PARMS 76 #define MOT_AXIS_SET_PWM_LIMIT 77 #define MOT_AXIS_GET_PWM_LIMIT 78 #define MOT_AXIS_SET_PWM 79 #define MOT_AXIS_GET_PWM 80 #define SONAR_RUN 0 #define SONAR_GET_UPDATE 1 #define SONAR_REPORT 2 #define DIO_REPORTS_REQ 0 #define DIO_REPORT 1 #define DIO_GET_UPDATE 2 #define DIO_UPDATE 3 #define DIO_SET 4 #define IR_RUN 0 #define IR_REPORT 1 #define JSTK_GET_STATE 0 enum PARITY_TYPE { N, E, O }; typedef struct { char ttyport[MAX_NAME_LENGTH]; int baud; enum PARITY_TYPE parity; int fd; int databits; int stopbits; int hwf; int swf; } RFLEX_Device; #endif