CompactBHA.h File Reference

In "rec/robotino/api2/c/CompactBHA.h" you can find functions for controlling Robotino's compactBHA. More...

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

Go to the source code of this file.

Macros
#define	INVALID_COMPACTBHAID   -1

Typedefs
typedef int	CompactBHAId

Functions
DLLEXPORT CompactBHAId	CompactBHA_construct ()
DLLEXPORT BOOL	CompactBHA_destroy (CompactBHAId id)
DLLEXPORT BOOL	CompactBHA_setComId (CompactBHAId id, ComId comId)
DLLEXPORT BOOL	CompactBHA_setPressures (CompactBHAId id, const float *pressures)
DLLEXPORT BOOL	CompactBHA_setCompressorsEnabled (CompactBHAId id, BOOL enabled)
DLLEXPORT BOOL	CompactBHA_setWaterDrainValve (CompactBHAId id, BOOL open)
DLLEXPORT BOOL	CompactBHA_setGripperValve1 (CompactBHAId id, BOOL open)
DLLEXPORT BOOL	CompactBHA_setGripperValve2 (CompactBHAId id, BOOL open)
DLLEXPORT BOOL	CompactBHA_pressures (CompactBHAId id, float *readings)
DLLEXPORT BOOL	CompactBHA_pressureSensor (CompactBHAId id)
DLLEXPORT BOOL	CompactBHA_stringPots (CompactBHAId id, float *readings)
DLLEXPORT float	CompactBHA_foilPot (CompactBHAId id)

Detailed Description

In "rec/robotino/api2/c/CompactBHA.h" you can find functions for controlling Robotino's compactBHA.

Use CompactBHA_construct() to create a new compactBHA object. Associate the compactBHA object with a com object using CompactBHA_setComId(). Use CompactBHA_setAxis() to drive one axis to the desired position. Use CompactBHA_getReadings() to get sensor readings from Robotino's compactBHA.

Macro Definition Documentation

#define INVALID_COMPACTBHAID   -1

Invalid CompactBHAId is -1

Typedef Documentation

typedef int CompactBHAId

CompactBHAId

Function Documentation

DLLEXPORT CompactBHAId CompactBHA_construct

(

)

Construct an CompactBHA object

Returns

Returns the ID of the newly constructed CompactBHA object.

DLLEXPORT BOOL CompactBHA_destroy

(

CompactBHAId

id

)

Destroy the CompactBHA object assigned to id

Parameters

id	The id of the CompactBHA object to be destroyed

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CompactBHAId is invalid.

DLLEXPORT float CompactBHA_foilPot

(

CompactBHAId

id

)

Read foil potentiometers

Parameters

id	The CompactBHA id.

Returns

Returns the current reading from the foil pot. Returns 0 if the given CompactBHAId is invalid.

DLLEXPORT BOOL CompactBHA_pressures	(	CompactBHAId	id,
		float *	readings
	)

Read current pressure of all bellows

Parameters

	id	The CompactBHA id.
[out]	readings	Array of pressures in bar. Size of this array must be 8.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CompactBHAId is invalid.

DLLEXPORT BOOL CompactBHA_pressureSensor

(

CompactBHAId

id

)

Read pressure sensor

Parameters

id	The CompactBHA id.

Returns

Returns the signal from the pressure sensor. Returns FALSE (0) if the given CompactBHAId is invalid.

DLLEXPORT BOOL CompactBHA_setComId	(	CompactBHAId	id,
		ComId	comId
	)

Associated an CompactBHA object with a communication interface, i.e. binding the CompactBHA to a specific Robotino

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CompactBHAId is invalid.

DLLEXPORT BOOL CompactBHA_setCompressorsEnabled	(	CompactBHAId	id,
		BOOL	enabled
	)

Turns compressors on and off. If on, they do only run when pressure is too low.

Parameters

id	The CompactBHA id.
enabled	State of compressors.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CompactBHAId is invalid.

DLLEXPORT BOOL CompactBHA_setGripperValve1	(	CompactBHAId	id,
		BOOL	open
	)

Opens and closes the gripper valve 1.

Parameters

id	The CompactBHA id.
open	State of the valve.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CompactBHAId is invalid.

DLLEXPORT BOOL CompactBHA_setGripperValve2	(	CompactBHAId	id,
		BOOL	open
	)

Opens and closes the gripper valve 2.

Parameters

id	The CompactBHA id.
open	State of the valve.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CompactBHAId is invalid.

DLLEXPORT BOOL CompactBHA_setPressures	(	CompactBHAId	id,
		const float *	pressures
	)

Sets pressure of all bellows

Parameters

id	The CompactBHA id.
pressures	Array of pressures in bar. Size of this array must be 8.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CompactBHAId is invalid.

DLLEXPORT BOOL CompactBHA_setWaterDrainValve	(	CompactBHAId	id,
		BOOL	open
	)

Opens and closes the water drain valve.

Parameters

id	The CompactBHA id.
open	State of the valve.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CompactBHAId is invalid.

DLLEXPORT BOOL CompactBHA_stringPots	(	CompactBHAId	id,
		float *	readings
	)

Read string potentiometers

Parameters

	id	The CompactBHA id.
[out]	readings	Array of readings. Size of this array must be 6.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given CompactBHAId is invalid.