Macros | Functions | Variables
libypspur.c File Reference
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <sys/types.h>
#include <ipcommunication.h>
#include <ypspur.h>
#include <ypspur-md.h>
Include dependency graph for libypspur.c:

Go to the source code of this file.

Macros

#define YP_SPUR_RUNTIME
 

Functions

int YP_get_ad_value (int num)
 
double YP_get_device_error_state (int id, int *err)
 
int YP_get_error_state ()
 
double YP_get_joint_ang (int id, double *a)
 
double YP_get_joint_torque (int id, double *w)
 
double YP_get_joint_vel (int id, double *v)
 
double YP_get_joint_vref (int id, double *v)
 
int YP_get_parameter (int param_id, double *value)
 
int YP_get_parameter_array (int param_id, double *value)
 
double YP_get_vref (double *v, double *w)
 
double YP_get_wheel_ang (double *theta_r, double *theta_l)
 
double YP_get_wheel_torque (double *torque_r, double *torque_l)
 
double YP_get_wheel_vel (double *wr, double *wl)
 
double YP_get_wheel_vref (double *wr, double *wl)
 
int YP_joint_ang (int id, double a)
 
int YP_joint_ang_vel (int id, double a, double v)
 
int YP_joint_torque (int id, double t)
 
int YP_joint_vel (int id, double v)
 
int YP_openfree (void)
 
int YP_set_control_state (int control_id, int state)
 
int YP_set_io_data (unsigned char data)
 
int YP_set_io_dir (unsigned char dir)
 
int YP_set_joint_accel (int id, double a)
 
int YP_set_joint_vel (int id, double v)
 
int YP_set_parameter (int param_id, double value)
 
int YP_set_parameter_array (int param_id, double *value)
 
int YP_set_wheel_accel (double r, double l)
 
int YP_set_wheel_vel (double r, double l)
 
int YP_wheel_ang (double r, double l)
 
int YP_wheel_torque (double r, double l)
 
int YP_wheel_vel (double r, double l)
 
int YPSpur_adjust_pos (int cs, double x, double y, double theta)
 
int YPSpur_circle (int cs, double x, double y, double r)
 
int YPSpur_free (void)
 
int YPSpur_freeze (void)
 
double YPSpur_get_force (double *trans, double *angular)
 
double YPSpur_get_pos (int cs, double *x, double *y, double *theta)
 
double YPSpur_get_vel (double *v, double *w)
 
int YPSpur_init (void)
 
int YPSpur_init_socket (char *ip, int port)
 
int YPSpur_initex (int msq_key)
 
int YPSpur_isfreeze (void)
 
int YPSpur_line (int cs, double x, double y, double theta)
 
int YPSpur_near_ang (int cs, double th, double d)
 
int YPSpur_near_pos (int cs, double x, double y, double r)
 
int YPSpur_orient (int cs, double theta)
 
int YPSpur_over_line (int cs, double x, double y, double theta)
 
int YPSpur_set_accel (double dv)
 
int YPSpur_set_angaccel (double dw)
 
int YPSpur_set_angvel (double w)
 
int YPSpur_set_pos (int cs, double x, double y, double theta)
 
int YPSpur_set_vel (double v)
 
int YPSpur_spin (int cs, double theta)
 
int YPSpur_stop (void)
 
int YPSpur_stop_line (int cs, double x, double y, double theta)
 
int YPSpur_tilt (int cs, double dir, double tilt)
 
int YPSpur_unfreeze (void)
 
int YPSpur_vel (double v, double w)
 

Variables

static YPSpur spur
 

Macro Definition Documentation

#define YP_SPUR_RUNTIME

Definition at line 36 of file libypspur.c.

Function Documentation

int YP_get_ad_value ( int  num)

Definition at line 283 of file libypspur.c.

double YP_get_device_error_state ( int  id,
int *  err 
)

Definition at line 50 of file libypspur.c.

int YP_get_error_state ( void  )

Definition at line 45 of file libypspur.c.

double YP_get_joint_ang ( int  id,
double *  a 
)

Definition at line 364 of file libypspur.c.

double YP_get_joint_torque ( int  id,
double *  w 
)

Definition at line 369 of file libypspur.c.

double YP_get_joint_vel ( int  id,
double *  v 
)

Definition at line 354 of file libypspur.c.

double YP_get_joint_vref ( int  id,
double *  v 
)

Definition at line 359 of file libypspur.c.

int YP_get_parameter ( int  param_id,
double *  value 
)

Definition at line 241 of file libypspur.c.

int YP_get_parameter_array ( int  param_id,
double *  value 
)

Definition at line 247 of file libypspur.c.

double YP_get_vref ( double *  v,
double *  w 
)

Definition at line 181 of file libypspur.c.

double YP_get_wheel_ang ( double *  theta_r,
double *  theta_l 
)

Definition at line 199 of file libypspur.c.

double YP_get_wheel_torque ( double *  torque_r,
double *  torque_l 
)

Definition at line 205 of file libypspur.c.

double YP_get_wheel_vel ( double *  wr,
double *  wl 
)

Definition at line 193 of file libypspur.c.

double YP_get_wheel_vref ( double *  wr,
double *  wl 
)

Definition at line 187 of file libypspur.c.

int YP_joint_ang ( int  id,
double  a 
)

Definition at line 334 of file libypspur.c.

int YP_joint_ang_vel ( int  id,
double  a,
double  v 
)

Definition at line 339 of file libypspur.c.

int YP_joint_torque ( int  id,
double  t 
)

Definition at line 324 of file libypspur.c.

int YP_joint_vel ( int  id,
double  v 
)

Definition at line 329 of file libypspur.c.

int YP_openfree ( void  )

Definition at line 127 of file libypspur.c.

int YP_set_control_state ( int  control_id,
int  state 
)

Definition at line 253 of file libypspur.c.

int YP_set_io_data ( unsigned char  data)

Definition at line 293 of file libypspur.c.

int YP_set_io_dir ( unsigned char  dir)

Definition at line 288 of file libypspur.c.

int YP_set_joint_accel ( int  id,
double  a 
)

Definition at line 344 of file libypspur.c.

int YP_set_joint_vel ( int  id,
double  v 
)

Definition at line 349 of file libypspur.c.

int YP_set_parameter ( int  param_id,
double  value 
)

Definition at line 229 of file libypspur.c.

int YP_set_parameter_array ( int  param_id,
double *  value 
)

Definition at line 235 of file libypspur.c.

int YP_set_wheel_accel ( double  r,
double  l 
)

Definition at line 314 of file libypspur.c.

int YP_set_wheel_vel ( double  r,
double  l 
)

Definition at line 309 of file libypspur.c.

int YP_wheel_ang ( double  r,
double  l 
)

Definition at line 319 of file libypspur.c.

int YP_wheel_torque ( double  r,
double  l 
)

Definition at line 304 of file libypspur.c.

int YP_wheel_vel ( double  r,
double  l 
)

Definition at line 299 of file libypspur.c.

int YPSpur_adjust_pos ( int  cs,
double  x,
double  y,
double  theta 
)

Definition at line 139 of file libypspur.c.

int YPSpur_circle ( int  cs,
double  x,
double  y,
double  r 
)

Definition at line 85 of file libypspur.c.

int YPSpur_free ( void  )

Definition at line 121 of file libypspur.c.

int YPSpur_freeze ( void  )

Definition at line 109 of file libypspur.c.

double YPSpur_get_force ( double *  trans,
double *  angular 
)

Definition at line 211 of file libypspur.c.

double YPSpur_get_pos ( int  cs,
double *  x,
double *  y,
double *  theta 
)

getter

Definition at line 169 of file libypspur.c.

double YPSpur_get_vel ( double *  v,
double *  w 
)

Definition at line 175 of file libypspur.c.

int YPSpur_init ( void  )

init

Definition at line 67 of file libypspur.c.

int YPSpur_init_socket ( char *  ip,
int  port 
)

Definition at line 61 of file libypspur.c.

int YPSpur_initex ( int  msq_key)

Definition at line 56 of file libypspur.c.

int YPSpur_isfreeze ( void  )

freeze

Definition at line 217 of file libypspur.c.

int YPSpur_line ( int  cs,
double  x,
double  y,
double  theta 
)

spur

Definition at line 73 of file libypspur.c.

int YPSpur_near_ang ( int  cs,
double  th,
double  d 
)

Definition at line 271 of file libypspur.c.

int YPSpur_near_pos ( int  cs,
double  x,
double  y,
double  r 
)

check position

Definition at line 265 of file libypspur.c.

int YPSpur_orient ( int  cs,
double  theta 
)

Definition at line 97 of file libypspur.c.

int YPSpur_over_line ( int  cs,
double  x,
double  y,
double  theta 
)

Definition at line 277 of file libypspur.c.

int YPSpur_set_accel ( double  dv)

Definition at line 157 of file libypspur.c.

int YPSpur_set_angaccel ( double  dw)

Definition at line 163 of file libypspur.c.

int YPSpur_set_angvel ( double  w)

Definition at line 151 of file libypspur.c.

int YPSpur_set_pos ( int  cs,
double  x,
double  y,
double  theta 
)

setter

Definition at line 133 of file libypspur.c.

int YPSpur_set_vel ( double  v)

Definition at line 145 of file libypspur.c.

int YPSpur_spin ( int  cs,
double  theta 
)

Definition at line 91 of file libypspur.c.

int YPSpur_stop ( void  )

motor servo

Definition at line 103 of file libypspur.c.

int YPSpur_stop_line ( int  cs,
double  x,
double  y,
double  theta 
)

Definition at line 79 of file libypspur.c.

int YPSpur_tilt ( int  cs,
double  dir,
double  tilt 
)

tilt

Definition at line 259 of file libypspur.c.

int YPSpur_unfreeze ( void  )

Definition at line 115 of file libypspur.c.

int YPSpur_vel ( double  v,
double  w 
)

direct

Definition at line 223 of file libypspur.c.

Variable Documentation

YPSpur spur
static

Definition at line 42 of file libypspur.c.



yp-spur
Author(s):
autogenerated on Sat May 11 2019 02:08:24