#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>

Include dependency graph for libypspur-md.c:

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)

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 1413 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.

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.

Macros

Functions

Macro Definition Documentation

Function Documentation