rflex_commands.h

00001 #ifndef RFLEX_COMMANDS_H
00002 #define RFLEX_COMMANDS_H
00003 
00004   int rflex_open_connection(char *dev_name, int *fd);
00005   int rflex_close_connection(int *fd);
00006 
00007   void rflex_sonars_on(int fd);
00008   void rflex_sonars_off(int fd);
00009 
00010   void rflex_ir_on(int fd);
00011   void rflex_ir_off(int fd);
00012 
00013   void rflex_brake_on(int fd);
00014   void rflex_brake_off(int fd);
00015 
00016   void rflex_odometry_off( int fd );
00017   void rflex_odometry_on( int fd, long period );
00018 
00019   void rflex_motion_set_defaults(int fd);
00020 
00021   void rflex_initialize(int fd, int trans_acceleration,
00022                                int rot_acceleration,
00023                                int trans_pos,
00024                                int rot_pos);
00025 
00026   void rflex_update_status(int fd, int *distance, 
00027                                   int *bearing, int *t_vel,
00028                                   int *r_vel);
00029 
00030   void rflex_update_system(int fd, int *battery,
00031                                    int *brake);
00032 
00033   int rflex_update_sonar(int fd, int num_sonars,
00034                                  int *ranges);
00035   void rflex_update_bumpers(int fd, int num_bumpers,
00036                                    char *values);
00037   void rflex_update_ir(int fd, int num_irs,
00038                              unsigned char *ranges);
00039 
00040   void rflex_set_velocity(int fd, long t_vel, long r_vel, 
00041                                  long acceleration);
00042   void rflex_stop_robot(int fd, int deceleration);
00043 
00044 //int clear_incoming_data(int fd);
00045 
00046 #endif

Last updated 12 September 2005 21:38:45