command.h File Reference

#include <ipcommunication.h>
#include <ypparam.h>
#include <ypspur.h>

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Classes
struct	_spur_user_params

Typedefs
typedef struct _spur_user_params	SpurUserParams
typedef struct _spur_user_params *	SpurUserParamsPtr

Enumerations
enum	MotorControlMode {   MOTOR_CONTROL_OPENFREE, MOTOR_CONTROL_FREE, MOTOR_CONTROL_VEHICLE, MOTOR_CONTROL_VEL,   MOTOR_CONTROL_ANGLE, MOTOR_CONTROL_ANGLE_VEL }
enum	SpurRunMode {   RUN_OPENFREE = -1, RUN_FREE = 0, RUN_STOP, RUN_LINEFOLLOW,   RUN_STOP_LINE, RUN_CIRCLEFOLLOW, RUN_SPIN, RUN_ORIENT,   RUN_VEL, RUN_WHEEL_VEL, RUN_WHEEL_TORQUE, RUN_WHEEL_ANGLE }

Functions
void	circle_com (int cs, double *data, SpurUserParamsPtr spur)
void	command (void)
void	free_com (double *data, SpurUserParamsPtr spur)
void	get_ad_com (double *data, double *resdata)
void	get_error_state_com (double *data, double *resdata)
void	get_force_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void	get_joint_ang_com (int id, double *data, SpurUserParamsPtr spur)
void	get_joint_torque_com (int id, double *data, SpurUserParamsPtr spur)
void	get_joint_vel_com (int id, double *data, SpurUserParamsPtr spur)
void	get_joint_vref_com (int id, double *data, SpurUserParamsPtr spur)
void	get_pos_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
SpurUserParamsPtr	get_spur_user_param_ptr ()
void	get_vel_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void	get_vref_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void	get_wheel_ang_com (double *data, double *resdata, SpurUserParamsPtr spur)
void	get_wheel_torque_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void	get_wheel_vel_com (double *data, double *resdata, SpurUserParamsPtr spur)
void	get_wheel_vref_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void	init_command_thread (pthread_t *thread)
void	init_spur_command (void)
void	joint_ang_com (int id, double *data, SpurUserParamsPtr spur)
void	joint_ang_vel_com (int id, double *data, SpurUserParamsPtr spur)
void	joint_torque_com (int id, double *data, SpurUserParamsPtr spur)
void	joint_vel_com (int id, double *data, SpurUserParamsPtr spur)
void	line_com (int cs, double *data, SpurUserParamsPtr spur)
void	message_return (struct ipcmd_t *ipcmd, long retpid, YPSpur_msg *res_msg)
int	near_ang_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
int	near_pos_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void	openfree_com (double *data, SpurUserParamsPtr spur)
void	orient_com (int cs, double *data, SpurUserParamsPtr spur)
int	over_line_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
int	param_get_com (int cs, double *resdata, SpurUserParamsPtr spur)
void	param_set_com (int cs, double *data, SpurUserParamsPtr spur)
void	param_state_com (int cs, double *data, SpurUserParamsPtr spur)
void	set_accel_com (double *data, SpurUserParamsPtr spur)
void	set_adjust_com (int cs, double *data, SpurUserParamsPtr spur)
void	set_ang_accel_com (double *data, SpurUserParamsPtr spur)
void	set_ang_vel_com (double *data, SpurUserParamsPtr spur)
void	set_GL_on_GL_com (double *data, SpurUserParamsPtr spur)
void	set_io_data_com (double *data, double *resdata)
void	set_io_dir_com (double *data, double *resdata)
void	set_joint_accel_com (int id, double *data, SpurUserParamsPtr spur)
void	set_joint_vel_com (int id, double *data, SpurUserParamsPtr spur)
void	set_pos_com (int cs, double *data, SpurUserParamsPtr spur)
void	set_tilt_com (int cs, double *data, SpurUserParamsPtr spur)
void	set_torque_com (double *data, SpurUserParamsPtr spur)
void	set_vel_com (double *data, SpurUserParamsPtr spur)
void	set_wheel_accel_com (double *data, SpurUserParamsPtr spur)
void	set_wheel_vel_com (double *data, SpurUserParamsPtr spur)
void	spin_com (int cs, double *data, SpurUserParamsPtr spur)
void	stop_com (double *data, SpurUserParamsPtr spur)
void	stop_line_com (int cs, double *data, SpurUserParamsPtr spur)
void	vel_com (double *data, SpurUserParamsPtr spur)
void	wheel_angle_com (double *data, SpurUserParamsPtr spur)
void	wheel_vel_com (double *data, SpurUserParamsPtr spur)

Typedef Documentation

typedef struct _spur_user_params SpurUserParams

typedef struct _spur_user_params* SpurUserParamsPtr

Definition at line 54 of file command.h.

Enumeration Type Documentation

enum MotorControlMode

Enumerator
MOTOR_CONTROL_OPENFREE
MOTOR_CONTROL_FREE
MOTOR_CONTROL_VEHICLE
MOTOR_CONTROL_VEL
MOTOR_CONTROL_ANGLE
MOTOR_CONTROL_ANGLE_VEL

Definition at line 44 of file command.h.

enum SpurRunMode

Enumerator
RUN_OPENFREE
RUN_FREE
RUN_STOP
RUN_LINEFOLLOW
RUN_STOP_LINE
RUN_CIRCLEFOLLOW
RUN_SPIN
RUN_ORIENT
RUN_VEL
RUN_WHEEL_VEL
RUN_WHEEL_TORQUE
RUN_WHEEL_ANGLE

Definition at line 28 of file command.h.

Function Documentation

void circle_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 80 of file command_run.c.

void command

(

void

)

Definition at line 87 of file command.c.

void free_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 129 of file command_run.c.

void get_ad_com	(	double *	data,
		double *	resdata
	)

Definition at line 48 of file command_aux.c.

void get_error_state_com	(	double *	data,
		double *	resdata
	)

Definition at line 72 of file command_aux.c.

void get_force_com	(	int	cs,
		double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 96 of file command_get.c.

void get_joint_ang_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 142 of file command_joint.c.

void get_joint_torque_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 157 of file command_joint.c.

void get_joint_vel_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 112 of file command_joint.c.

void get_joint_vref_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 127 of file command_joint.c.

void get_pos_com	(	int	cs,
		double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 48 of file command_get.c.

SpurUserParamsPtr get_spur_user_param_ptr

(

)

Definition at line 53 of file command.c.

void get_vel_com	(	int	cs,
		double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 83 of file command_get.c.

void get_vref_com	(	int	cs,
		double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 72 of file command_get.c.

void get_wheel_ang_com	(	double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 135 of file command_get.c.

void get_wheel_torque_com	(	int	cs,
		double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 109 of file command_get.c.

void get_wheel_vel_com	(	double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 122 of file command_get.c.

void get_wheel_vref_com	(	int	cs,
		double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 61 of file command_get.c.

void init_command_thread

(

pthread_t *

thread

)

Definition at line 462 of file command.c.

void init_spur_command

(

void

)

Definition at line 68 of file command.c.

void joint_ang_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 69 of file command_joint.c.

void joint_ang_vel_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 80 of file command_joint.c.

void joint_torque_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 47 of file command_joint.c.

void joint_vel_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 58 of file command_joint.c.

void line_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 48 of file command_run.c.

void message_return	(	struct ipcmd_t *	ipcmd,
		long	retpid,
		YPSpur_msg *	res_msg
	)

Definition at line 453 of file command.c.

int near_ang_com	(	int	cs,
		double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 173 of file command_get.c.

int near_pos_com	(	int	cs,
		double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 148 of file command_get.c.

void openfree_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 134 of file command_run.c.

void orient_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 110 of file command_run.c.

int over_line_com	(	int	cs,
		double *	data,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 199 of file command_get.c.

int param_get_com	(	int	cs,
		double *	resdata,
		SpurUserParamsPtr	spur
	)

Definition at line 60 of file command_param.c.

void param_set_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 51 of file command_param.c.

void param_state_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 93 of file command_param.c.

void set_accel_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 152 of file command_set.c.

void set_adjust_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 91 of file command_set.c.

void set_ang_accel_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 161 of file command_set.c.

void set_ang_vel_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 143 of file command_set.c.

void set_GL_on_GL_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 80 of file command_set.c.

void set_io_data_com	(	double *	data,
		double *	resdata
	)

Definition at line 64 of file command_aux.c.

void set_io_dir_com	(	double *	data,
		double *	resdata
	)

Definition at line 56 of file command_aux.c.

void set_joint_accel_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 92 of file command_joint.c.

void set_joint_vel_com	(	int	id,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 102 of file command_joint.c.

void set_pos_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 49 of file command_set.c.

void set_tilt_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 170 of file command_set.c.

void set_torque_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 136 of file command_set.c.

void set_vel_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 127 of file command_set.c.

void set_wheel_accel_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 184 of file command_set.c.

void set_wheel_vel_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 190 of file command_set.c.

void spin_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 96 of file command_run.c.

void stop_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 124 of file command_run.c.

void stop_line_com	(	int	cs,
		double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 64 of file command_run.c.

void vel_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 139 of file command_run.c.

void wheel_angle_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 153 of file command_run.c.

void wheel_vel_com	(	double *	data,
		SpurUserParamsPtr	spur
	)

Definition at line 146 of file command_run.c.