openinterface.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <sys/time.h>
#include <sys/select.h>
#include "openinterface.h"
#include "config.h"
#include "def.h"
#include "general.h"

Go to the source code of this file.

Functions
openinterface_t *	openinterface_open (char *device_path)
int	openinterface_close (openinterface_t *ois)
int	openinterface_start (openinterface_t *ois)
int	openinterface_full (openinterface_t *ois)
int	openinterface_drive (openinterface_t *ois, int velocity, int radius)
int	openinterface_drive_direct (openinterface_t *ois, int right, int left)
int	openinterface_sensor_get (openinterface_t *ois, const unsigned char id, const unsigned char len, unsigned char *data)
int	openinterface_sensors_update (openinterface_t *ois, const unsigned int sensor_id, const unsigned int size)
int	openinterface_distance_get (openinterface_t *ois)
int	openinterface_angle_get (openinterface_t *ois)
int	openinterface_LEDs (openinterface_t *ois, int play, int advance, unsigned char power_color, unsigned char power_intensity)

Detailed Description

Author

Eriks Zaharans

Version

1.0

DESCRIPTION

Open Interface library.

Definition in file openinterface.c.

Function Documentation

int openinterface_angle_get

(

openinterface_t *

ois

)

Get change of angle

Parameters

opis	Pointer to OpenInterface structure

Returns

change of angle (degree)

Definition at line 320 of file openinterface.c.

int openinterface_close

(

openinterface_t *

ois

)

Close OpenInterface connection

Parameters

opis	Pointer to openInterface structure

Returns

s_OK if successful, s_ERROR if failed

Definition at line 63 of file openinterface.c.

int openinterface_distance_get

(

openinterface_t *

ois

)

Get travelled distance

Parameters

opis	Pointer to OpenInterface structure

Returns

travelled distance (mm)

Definition at line 301 of file openinterface.c.

int openinterface_drive	(	openinterface_t *	ois,
		int	velocity,
		int	radius
	)

Sends Drive Command

Parameters

opis	Pointer to OpenInterface structure
velocity	Drive velocity
radius	Radius of circle (curve)

Returns

s_OK if successful, s_ERROR if failed

Definition at line 119 of file openinterface.c.

int openinterface_drive_direct	(	openinterface_t *	ois,
		int	right,
		int	left
	)

Sends Direct Drive Command

Parameters

opis	Pointer to OpenInterface structure
right	Right wheel velocity
left	left wheel velocity

Returns

s_OK if successful, s_ERROR if failed

Definition at line 150 of file openinterface.c.

int openinterface_full

(

openinterface_t *

ois

)

Enable full control of OpenInterface

Parameters

opis	Pointer to OpenInterface structure

Returns

s_OK if successful, s_ERROR if failed

Definition at line 103 of file openinterface.c.

int openinterface_LEDs	(	openinterface_t *	ois,
		int	play,
		int	advance,
		unsigned char	power_color,
		unsigned char	power_intensity
	)

Control LEDs

Parameters

opis	Pointer to OpenInterface structure
play	Light up PLAY LED (0 - off, 1 - on)
advance	Light up ADVANCE LED (0 - off, 1 - on)
power_color	Color of POWER LED (0 - green, 255 - red, intermediate values - intermediate colors)
power_intensity	Intensity of POWER LED (0-255)

Returns

s_OK if successful, s_ERROR if failed

Definition at line 343 of file openinterface.c.

openinterface_t* openinterface_open

(

char *

device_path

)

Open OpenInterface connection

Parameters

device_path

Path to device

Returns

Pointer to openInterface structure

Definition at line 35 of file openinterface.c.

int openinterface_sensor_get	(	openinterface_t *	ois,
		const unsigned char	id,
		const unsigned char	len,
		unsigned char *	data
	)

Get one sensor request readings

Parameters

opis	Pointer to OpenInterface structure
id	ID of the sensor packet
len	Number of bytes to be read
data	Ponter to memory where to store data

Returns

s_OK if successful, s_ERROR if failed

Definition at line 182 of file openinterface.c.

int openinterface_sensors_update	(	openinterface_t *	ois,
		const unsigned int	sensor_id,
		const unsigned int	size
	)

Updates all sensor data

Parameters

opis	Pointer to OpenInterface structure
oiss	Pointer to OpenInterface sensor structure
sensor_id	ID of sensor packet
size	Number of bytes in sensor packet

Returns

s_OK if successful, s_ERROR if failed

Definition at line 231 of file openinterface.c.

int openinterface_start

(

openinterface_t *

ois

)

Start OpenInterface connection

Parameters

opis	Pointer to OpenInterface structure

Returns

s_OK if successful, s_ERROR if failed

Definition at line 89 of file openinterface.c.