testMCDC3006S.c File Reference

#include "mcdc3006s/MCDC3006Slib/MCDC3006S.h"

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Defines
#define	AD_HOME   getenv( "AD_HOME" ) /* char *getenv(const char *nombre); */
#define	DEFAULT_SEMFILE   "/robot/etc/semDrive"
#define	DEFAULT_SERIAL_DEVICE   "/dev/brazo_derecho"
#define	FALSE   0
#define	TRUE   1
Typedefs
typedef int	boolean
Functions
int	main (int argc, char *argv[])
void	mainMenu (driverSensor_t *odo, driverConf_t *dc)
	Main Menu. Shows the menu and performs usered entered commands until the user exits de program.
int	moveToPosition (long int position, boolean relative, driverSensor_t *odo, driverConf_t *dc)
	Moves the Driver MCDC3006S to an absolute position.
int	moveVelocity (long int velocity, driverConf_t *dc)
	Moves the Driver MCDC3006S at a determined velocity.
int	testMovementMonitor ()

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Define Documentation

#define AD_HOME   getenv( "AD_HOME" ) /* char *getenv(const char *nombre); */

Definition at line 11 of file testMCDC3006S.c.

#define DEFAULT_SEMFILE   "/robot/etc/semDrive"

Definition at line 17 of file testMCDC3006S.c.

#define DEFAULT_SERIAL_DEVICE   "/dev/brazo_derecho"

Definition at line 16 of file testMCDC3006S.c.

#define FALSE   0

Definition at line 14 of file testMCDC3006S.c.

#define TRUE   1

Definition at line 13 of file testMCDC3006S.c.

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Typedef Documentation

typedef int boolean

Definition at line 19 of file testMCDC3006S.c.

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Function Documentation

int main	(	int	argc,
		char *	argv[]
	)

Used to monitor the status of the initCommunication() method

Definition at line 25 of file testMCDC3006S.c.

void mainMenu	(	driverSensor_t *	odo,
		driverConf_t *	dc
	)

Main Menu. Shows the menu and performs usered entered commands until the user exits de program.

Definition at line 106 of file testMCDC3006S.c.

int moveToPosition	(	long int	position,
		boolean	relative,
		driverSensor_t *	odo,
		driverConf_t *	dc
	)

Moves the Driver MCDC3006S to an absolute position.

Parameters:

position	is the position where the driver should move
relative	is a boolean that checks if the movement is relative or not
odo	is the reference to a t_odometry type where the driver odometry is stored
dc	is the Driver Configuration structure where some data of the driver is stored

Returns:

0 if everything OK

-1 at the driver level

Definition at line 440 of file testMCDC3006S.c.

int moveVelocity	(	long int	velocity,
		driverConf_t *	dc
	)

Moves the Driver MCDC3006S at a determined velocity.

Parameters:

velocity	is the velocity in rpm at the driver will move
dc	is the Driver Configuration structure where some data of the driver is stored

Returns:

0 if everything OK

-1 if there is an error at the driver level

Definition at line 481 of file testMCDC3006S.c.

int testMovementMonitor

(

)

Definition at line 493 of file testMCDC3006S.c.