player rflex_commands.h Source File

00001 #ifndef RFLEX_COMMANDS_H
00002 #define RFLEX_COMMANDS_H
00003 
00004   int rflex_open_connection(char *dev_name, int *fd);
00005 
00006   void rflex_sonars_on(int fd);
00007   void rflex_sonars_off(int fd);
00008 
00009   void rflex_ir_on(int fd);
00010   void rflex_ir_off(int fd);
00011 
00012   void rflex_brake_on(int fd);
00013   void rflex_brake_off(int fd);
00014 
00015   void rflex_odometry_off( int fd );
00016   void rflex_odometry_on( int fd, long period );
00017 
00018   void rflex_motion_set_defaults(int fd);
00019 
00020   void rflex_initialize(int fd, int trans_acceleration,
00021                                int rot_acceleration,
00022                                int trans_pos,
00023                                int rot_pos);
00024 
00025   void rflex_update_status(int fd, int *distance, 
00026                                   int *bearing, int *t_vel,
00027                                   int *r_vel);
00028 
00029   void rflex_update_system(int fd, int *battery,
00030                                    int *brake);
00031 
00032   int rflex_update_sonar(int fd, int num_sonars,
00033                                  int *ranges);
00034   void rflex_update_bumpers(int fd, int num_bumpers,
00035                                    char *values);
00036   void rflex_update_ir(int fd, int num_irs,
00037                              unsigned char *ranges);
00038 
00039   void rflex_set_velocity(int fd, long t_vel, long r_vel, 
00040                                  long acceleration);
00041   void rflex_stop_robot(int fd, int deceleration);
00042 
00043 //int clear_incoming_data(int fd);
00044 
00045 #endif