omnilib.h
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00001 /*
00002  * This file is part of the libomnidrive project.
00003  *
00004  * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
00005  *                    Ingo Kresse <kresse@in.tum.de>
00006  *
00007  * This program is free software; you can redistribute it and/or modify
00008  * it under the terms of the GNU General Public License as published by
00009  * the Free Software Foundation; either version 2 of the License, or
00010  * (at your option) any later version.
00011  *
00012  * This program is distributed in the hope that it will be useful,
00013  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  * GNU General Public License for more details.
00016  *
00017  * You should have received a copy of the GNU General Public License
00018  * along with this program; if not, write to the Free Software
00019  * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA
00020  */
00021 
00022 #ifndef OMNIDRIVE_H 
00023 #define OMNIDRIVE_H 
00024 
00025 typedef struct {
00026   int slave_state[4];
00027   int slave_online[4];
00028   int slave_operational[4];
00029   int master_link;
00030   int master_al_states;
00031   int master_slaves_responding;
00032   int working_counter;
00033   int working_counter_state;
00034 } commstatus_t;
00035 
00036 int omnidrive_init(void);
00037 int omnidrive_drive(double x, double y, double a);
00038 void omnidrive_set_correction(double drift);
00039 int omnidrive_odometry(double *x, double *y, double *a);
00040 int omnidrive_shutdown(void);
00041 
00042 void omnidrive_status(char *drive0, char *drive1, char *drive2, char *drive3, int *estop);
00043 
00044 commstatus_t omnidrive_commstatus();
00045 
00046 void omnidrive_poweron();
00047 void omnidrive_poweroff();
00048 void omnidrive_recover();
00049 
00050 #endif
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omni_ethercat
Author(s): Ingo Kresse
autogenerated on Thu May 23 2013 12:56:45