#include <stdio.h>#include <stdlib.h>#include <string.h>#include <unistd.h>#include <sys/types.h>#include <ipcommunication.h>#include <ypspur-md.h>#include <param.h>
Go to the source code of this file.
Macros | |
| #define | YP_SPUR_RUNTIME |
Functions | |
| ParamOutputLv | output_lv (void) |
| int | YP_md_get_ad_value (YPSpur *spur, int num) |
| double | YP_md_get_device_error_state (YPSpur *spur, int id, int *error_state) |
| int | YP_md_get_error_state (YPSpur *spur) |
| double | YP_md_get_joint_ang (YPSpur *spur, int id, double *a) |
| double | YP_md_get_joint_torque (YPSpur *spur, int id, double *t) |
| double | YP_md_get_joint_vel (YPSpur *spur, int id, double *v) |
| double | YP_md_get_joint_vref (YPSpur *spur, int id, double *v) |
| int | YP_md_get_parameter (YPSpur *spur, int param_id, double *value) |
| int | YP_md_get_parameter_array (YPSpur *spur, int param_id, double *value) |
| double | YP_md_get_vref (YPSpur *spur, double *v, double *w) |
| double | YP_md_get_wheel_ang (YPSpur *spur, double *theta_r, double *theta_l) |
| double | YP_md_get_wheel_torque (YPSpur *spur, double *torque_r, double *torque_l) |
| double | YP_md_get_wheel_vel (YPSpur *spur, double *wr, double *wl) |
| double | YP_md_get_wheel_vref (YPSpur *spur, double *wr, double *wl) |
| int | YP_md_joint_ang (YPSpur *spur, int id, double a) |
| int | YP_md_joint_ang_vel (YPSpur *spur, int id, double a, double v) |
| int | YP_md_joint_torque (YPSpur *spur, int id, double t) |
| int | YP_md_joint_vel (YPSpur *spur, int id, double v) |
| int | YP_md_openfree (YPSpur *spur) |
| void | YP_md_request_device_dump (YPSpur *spur, int id, int block) |
| int | YP_md_set_control_state (YPSpur *spur, int control_id, int state) |
| int | YP_md_set_io_data (YPSpur *spur, unsigned char data) |
| int | YP_md_set_io_dir (YPSpur *spur, unsigned char dir) |
| int | YP_md_set_joint_accel (YPSpur *spur, int id, double a) |
| int | YP_md_set_joint_vel (YPSpur *spur, int id, double v) |
| int | YP_md_set_parameter (YPSpur *spur, int param_id, double value) |
| int | YP_md_set_parameter_array (YPSpur *spur, int param_id, double *value) |
| int | YP_md_set_wheel_accel (YPSpur *spur, double r, double l) |
| int | YP_md_set_wheel_vel (YPSpur *spur, double r, double l) |
| int | YP_md_wheel_ang (YPSpur *spur, double r, double l) |
| int | YP_md_wheel_torque (YPSpur *spur, double r, double l) |
| int | YP_md_wheel_vel (YPSpur *spur, double r, double l) |
| int | YPSpur_md_adjust_pos (YPSpur *spur, int cs, double x, double y, double theta) |
| int | YPSpur_md_circle (YPSpur *spur, int cs, double x, double y, double r) |
| int | YPSpur_md_free (YPSpur *spur) |
| int | YPSpur_md_freeze (YPSpur *spur) |
| double | YPSpur_md_get_force (YPSpur *spur, double *trans, double *angular) |
| double | YPSpur_md_get_pos (YPSpur *spur, int cs, double *x, double *y, double *theta) |
| double | YPSpur_md_get_vel (YPSpur *spur, double *v, double *w) |
| int | YPSpur_md_init (YPSpur *spur) |
| int | YPSpur_md_init_socket (YPSpur *spur, char *ip, int port) |
| int | YPSpur_md_initex (YPSpur *spur, int msq_key) |
| int | YPSpur_md_isfreeze (YPSpur *spur) |
| int | YPSpur_md_line (YPSpur *spur, int cs, double x, double y, double theta) |
| int | YPSpur_md_near_ang (YPSpur *spur, int cs, double th, double d) |
| int | YPSpur_md_near_pos (YPSpur *spur, int cs, double x, double y, double r) |
| int | YPSpur_md_orient (YPSpur *spur, int cs, double theta) |
| int | YPSpur_md_over_line (YPSpur *spur, int cs, double x, double y, double theta) |
| int | YPSpur_md_set_accel (YPSpur *spur, double dv) |
| int | YPSpur_md_set_angaccel (YPSpur *spur, double dw) |
| int | YPSpur_md_set_angvel (YPSpur *spur, double w) |
| int | YPSpur_md_set_pos (YPSpur *spur, int cs, double x, double y, double theta) |
| int | YPSpur_md_set_vel (YPSpur *spur, double v) |
| int | YPSpur_md_spin (YPSpur *spur, int cs, double theta) |
| int | YPSpur_md_stop (YPSpur *spur) |
| int | YPSpur_md_stop_line (YPSpur *spur, int cs, double x, double y, double theta) |
| int | YPSpur_md_tilt (YPSpur *spur, int cs, double dir, double tilt) |
| int | YPSpur_md_unfreeze (YPSpur *spur) |
| int | YPSpur_md_vel (YPSpur *spur, double v, double w) |
Macro Definition Documentation
| #define YP_SPUR_RUNTIME |
Definition at line 36 of file libypspur-md.c.
Function Documentation
| ParamOutputLv output_lv | ( | void | ) |
Definition at line 1431 of file libypspur-md.c.
| int YP_md_get_ad_value | ( | YPSpur * | spur, |
| int | num | ||
| ) |
Definition at line 998 of file libypspur-md.c.
| double YP_md_get_device_error_state | ( | YPSpur * | spur, |
| int | id, | ||
| int * | error_state | ||
| ) |
Definition at line 48 of file libypspur-md.c.
| int YP_md_get_error_state | ( | YPSpur * | spur | ) |
Definition at line 43 of file libypspur-md.c.
| double YP_md_get_joint_ang | ( | YPSpur * | spur, |
| int | id, | ||
| double * | a | ||
| ) |
Definition at line 1351 of file libypspur-md.c.
| double YP_md_get_joint_torque | ( | YPSpur * | spur, |
| int | id, | ||
| double * | t | ||
| ) |
Definition at line 1382 of file libypspur-md.c.
| double YP_md_get_joint_vel | ( | YPSpur * | spur, |
| int | id, | ||
| double * | v | ||
| ) |
Definition at line 1289 of file libypspur-md.c.
| double YP_md_get_joint_vref | ( | YPSpur * | spur, |
| int | id, | ||
| double * | v | ||
| ) |
Definition at line 1320 of file libypspur-md.c.
| int YP_md_get_parameter | ( | YPSpur * | spur, |
| int | param_id, | ||
| double * | value | ||
| ) |
Definition at line 800 of file libypspur-md.c.
| int YP_md_get_parameter_array | ( | YPSpur * | spur, |
| int | param_id, | ||
| double * | value | ||
| ) |
Definition at line 829 of file libypspur-md.c.
| double YP_md_get_vref | ( | YPSpur * | spur, |
| double * | v, | ||
| double * | w | ||
| ) |
Definition at line 506 of file libypspur-md.c.
| double YP_md_get_wheel_ang | ( | YPSpur * | spur, |
| double * | theta_r, | ||
| double * | theta_l | ||
| ) |
Definition at line 605 of file libypspur-md.c.
| double YP_md_get_wheel_torque | ( | YPSpur * | spur, |
| double * | torque_r, | ||
| double * | torque_l | ||
| ) |
Definition at line 638 of file libypspur-md.c.
| double YP_md_get_wheel_vel | ( | YPSpur * | spur, |
| double * | wr, | ||
| double * | wl | ||
| ) |
Definition at line 572 of file libypspur-md.c.
| double YP_md_get_wheel_vref | ( | YPSpur * | spur, |
| double * | wr, | ||
| double * | wl | ||
| ) |
Definition at line 539 of file libypspur-md.c.
| int YP_md_joint_ang | ( | YPSpur * | spur, |
| int | id, | ||
| double | a | ||
| ) |
Definition at line 1208 of file libypspur-md.c.
| int YP_md_joint_ang_vel | ( | YPSpur * | spur, |
| int | id, | ||
| double | a, | ||
| double | v | ||
| ) |
Definition at line 1228 of file libypspur-md.c.
| int YP_md_joint_torque | ( | YPSpur * | spur, |
| int | id, | ||
| double | t | ||
| ) |
Definition at line 1168 of file libypspur-md.c.
| int YP_md_joint_vel | ( | YPSpur * | spur, |
| int | id, | ||
| double | v | ||
| ) |
Definition at line 1188 of file libypspur-md.c.
| int YP_md_openfree | ( | YPSpur * | spur | ) |
Definition at line 296 of file libypspur-md.c.
| void YP_md_request_device_dump | ( | YPSpur * | spur, |
| int | id, | ||
| int | block | ||
| ) |
Definition at line 1413 of file libypspur-md.c.
| int YP_md_set_control_state | ( | YPSpur * | spur, |
| int | control_id, | ||
| int | state | ||
| ) |
Definition at line 860 of file libypspur-md.c.
| int YP_md_set_io_data | ( | YPSpur * | spur, |
| unsigned char | data | ||
| ) |
Definition at line 1048 of file libypspur-md.c.
| int YP_md_set_io_dir | ( | YPSpur * | spur, |
| unsigned char | dir | ||
| ) |
Definition at line 1029 of file libypspur-md.c.
| int YP_md_set_joint_accel | ( | YPSpur * | spur, |
| int | id, | ||
| double | a | ||
| ) |
Definition at line 1249 of file libypspur-md.c.
| int YP_md_set_joint_vel | ( | YPSpur * | spur, |
| int | id, | ||
| double | v | ||
| ) |
Definition at line 1269 of file libypspur-md.c.
| int YP_md_set_parameter | ( | YPSpur * | spur, |
| int | param_id, | ||
| double | value | ||
| ) |
Definition at line 756 of file libypspur-md.c.
| int YP_md_set_parameter_array | ( | YPSpur * | spur, |
| int | param_id, | ||
| double * | value | ||
| ) |
Definition at line 778 of file libypspur-md.c.
| int YP_md_set_wheel_accel | ( | YPSpur * | spur, |
| double | r, | ||
| double | l | ||
| ) |
Definition at line 1128 of file libypspur-md.c.
| int YP_md_set_wheel_vel | ( | YPSpur * | spur, |
| double | r, | ||
| double | l | ||
| ) |
Definition at line 1108 of file libypspur-md.c.
| int YP_md_wheel_ang | ( | YPSpur * | spur, |
| double | r, | ||
| double | l | ||
| ) |
Definition at line 1148 of file libypspur-md.c.
| int YP_md_wheel_torque | ( | YPSpur * | spur, |
| double | r, | ||
| double | l | ||
| ) |
Definition at line 1088 of file libypspur-md.c.
| int YP_md_wheel_vel | ( | YPSpur * | spur, |
| double | r, | ||
| double | l | ||
| ) |
Definition at line 1068 of file libypspur-md.c.
| int YPSpur_md_adjust_pos | ( | YPSpur * | spur, |
| int | cs, | ||
| double | x, | ||
| double | y, | ||
| double | theta | ||
| ) |
Definition at line 337 of file libypspur-md.c.
| int YPSpur_md_circle | ( | YPSpur * | spur, |
| int | cs, | ||
| double | x, | ||
| double | y, | ||
| double | r | ||
| ) |
Definition at line 158 of file libypspur-md.c.
| int YPSpur_md_free | ( | YPSpur * | spur | ) |
Definition at line 277 of file libypspur-md.c.
| int YPSpur_md_freeze | ( | YPSpur * | spur | ) |
Definition at line 239 of file libypspur-md.c.
| double YPSpur_md_get_force | ( | YPSpur * | spur, |
| double * | trans, | ||
| double * | angular | ||
| ) |
Definition at line 671 of file libypspur-md.c.
| double YPSpur_md_get_pos | ( | YPSpur * | dev, |
| int | cs, | ||
| double * | x, | ||
| double * | y, | ||
| double * | theta | ||
| ) |
getter
Definition at line 439 of file libypspur-md.c.
| double YPSpur_md_get_vel | ( | YPSpur * | spur, |
| double * | v, | ||
| double * | w | ||
| ) |
Definition at line 473 of file libypspur-md.c.
| int YPSpur_md_init | ( | YPSpur * | dev | ) |
init
Definition at line 108 of file libypspur-md.c.
| int YPSpur_md_init_socket | ( | YPSpur * | spur, |
| char * | ip, | ||
| int | port | ||
| ) |
Definition at line 94 of file libypspur-md.c.
| int YPSpur_md_initex | ( | YPSpur * | spur, |
| int | msq_key | ||
| ) |
Definition at line 81 of file libypspur-md.c.
| int YPSpur_md_isfreeze | ( | YPSpur * | dev | ) |
freeze
Definition at line 704 of file libypspur-md.c.
| int YPSpur_md_line | ( | YPSpur * | dev, |
| int | cs, | ||
| double | x, | ||
| double | y, | ||
| double | theta | ||
| ) |
Spur_md
Definition at line 114 of file libypspur-md.c.
| int YPSpur_md_near_ang | ( | YPSpur * | spur, |
| int | cs, | ||
| double | th, | ||
| double | d | ||
| ) |
Definition at line 935 of file libypspur-md.c.
| int YPSpur_md_near_pos | ( | YPSpur * | dev, |
| int | cs, | ||
| double | x, | ||
| double | y, | ||
| double | r | ||
| ) |
check position
Definition at line 903 of file libypspur-md.c.
| int YPSpur_md_orient | ( | YPSpur * | spur, |
| int | cs, | ||
| double | theta | ||
| ) |
Definition at line 200 of file libypspur-md.c.
| int YPSpur_md_over_line | ( | YPSpur * | spur, |
| int | cs, | ||
| double | x, | ||
| double | y, | ||
| double | theta | ||
| ) |
Definition at line 966 of file libypspur-md.c.
| int YPSpur_md_set_accel | ( | YPSpur * | spur, |
| double | dv | ||
| ) |
Definition at line 399 of file libypspur-md.c.
| int YPSpur_md_set_angaccel | ( | YPSpur * | spur, |
| double | dw | ||
| ) |
Definition at line 419 of file libypspur-md.c.
| int YPSpur_md_set_angvel | ( | YPSpur * | spur, |
| double | w | ||
| ) |
Definition at line 379 of file libypspur-md.c.
| int YPSpur_md_set_pos | ( | YPSpur * | dev, |
| int | cs, | ||
| double | x, | ||
| double | y, | ||
| double | theta | ||
| ) |
setter
Definition at line 315 of file libypspur-md.c.
| int YPSpur_md_set_vel | ( | YPSpur * | spur, |
| double | v | ||
| ) |
Definition at line 359 of file libypspur-md.c.
| int YPSpur_md_spin | ( | YPSpur * | spur, |
| int | cs, | ||
| double | theta | ||
| ) |
Definition at line 180 of file libypspur-md.c.
| int YPSpur_md_stop | ( | YPSpur * | dev | ) |
motor servo
Definition at line 220 of file libypspur-md.c.
| int YPSpur_md_stop_line | ( | YPSpur * | spur, |
| int | cs, | ||
| double | x, | ||
| double | y, | ||
| double | theta | ||
| ) |
Definition at line 136 of file libypspur-md.c.
| int YPSpur_md_tilt | ( | YPSpur * | dev, |
| int | cs, | ||
| double | dir, | ||
| double | tilt | ||
| ) |
tilt
Definition at line 881 of file libypspur-md.c.
| int YPSpur_md_unfreeze | ( | YPSpur * | spur | ) |
Definition at line 258 of file libypspur-md.c.
| int YPSpur_md_vel | ( | YPSpur * | dev, |
| double | v, | ||
| double | w | ||
| ) |
direct
Definition at line 735 of file libypspur-md.c.