#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>
Go to the source code of this file.
Defines | |
| #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 |
Define 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
Definition at line 42 of file libypspur.c.