KheperaSerial Class Reference

Collaboration diagram for KheperaSerial:

Public Member Functions
	KheperaSerial (char *port, int rate=KHEPERA_DEFAULT_BAUD)
bool	Open ()
int	KheperaCommand (char command, int InCount, int *InValues, int OutCount, int *OutValues)
void	Lock ()
void	Unlock ()

Protected Member Functions
int	WriteInts (char command, int Count=0, int *Values=NULL)
int	ReadInts (char Header, int Count=0, int *Values=NULL)

Protected Attributes
int	fd
struct termios	oldtio
char	buffer [KHEPERA_BUFFER_LEN+1]
pthread_mutex_t	lock

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The documentation for this class was generated from the following files:

• khepera_serial.h
• khepera_serial.cc