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00022 #ifndef RFLEX_COMMANDS_H
00023 #define RFLEX_COMMANDS_H
00024
00025 int rflex_open_connection(char *dev_name, int *fd);
00026 int rflex_close_connection(int *fd);
00027
00028 void rflex_sonars_on(int fd);
00029 void rflex_sonars_off(int fd);
00030
00031 void rflex_ir_on(int fd);
00032 void rflex_ir_off(int fd);
00033
00034 void rflex_brake_on(int fd);
00035 void rflex_brake_off(int fd);
00036
00037 void rflex_odometry_off( int fd );
00038 void rflex_odometry_on( int fd, long period );
00039
00040 void rflex_motion_set_defaults(int fd);
00041
00042 void rflex_initialize(int fd, int trans_acceleration,
00043 int rot_acceleration,
00044 int trans_pos,
00045 int rot_pos);
00046
00047 void rflex_update_status(int fd, int *distance,
00048 int *bearing, int *t_vel,
00049 int *r_vel);
00050
00051 void rflex_update_system(int fd, int *battery,
00052 int *brake);
00053
00054 int rflex_update_sonar(int fd, int num_sonars,
00055 int *ranges);
00056 void rflex_update_bumpers(int fd, int num_bumpers,
00057 char *values);
00058 void rflex_update_ir(int fd, int num_irs,
00059 unsigned char *ranges);
00060
00061 void rflex_set_velocity(int fd, long t_vel, long r_vel,
00062 long acceleration);
00063 void rflex_stop_robot(int fd, int deceleration);
00064
00065
00066
00067 #endif