3 #ifndef _REC_ROBOTINO_API2_C_MANIPULATOR_H_ 4 #define _REC_ROBOTINO_API2_C_MANIPULATOR_H_ 6 #include "rec/robotino/api2/c/globals.h" 21 #define INVALID_MANIPULATORID -1 82 unsigned int* numAngles,
84 unsigned int* numSpeeds,
86 unsigned int* numErrors,
88 int* store_current_position,
90 unsigned int* numCwAxesLimits,
92 unsigned int* numCcwAxesLimits
132 #endif //_REC_ROBOTINO_API2_C_MANIPULATOR_H_ DLLEXPORT BOOL Manipulator_setComId(ManipulatorId id, ComId comId)
DLLEXPORT BOOL Manipulator_getReadings(ManipulatorId id, unsigned int *seq, float *angles, unsigned int *numAngles, float *speeds, unsigned int *numSpeeds, int *errors, unsigned int *numErrors, int *motors_enabled, int *store_current_position, float *cwAxesLimits, unsigned int *numCwAxesLimits, float *ccwAxesLimits, unsigned int *numCcwAxesLimits)
DLLEXPORT BOOL Manipulator_setAxis(ManipulatorId id, unsigned int axis, float angle, float speed)
DLLEXPORT ManipulatorId Manipulator_construct()
DLLEXPORT BOOL Manipulator_destroy(ManipulatorId id)
DLLEXPORT BOOL Manipulator_grab(ManipulatorId id)
DLLEXPORT BOOL Manipulator_toggleTorque(ManipulatorId id)
DLLEXPORT BOOL Manipulator_setAxes(ManipulatorId id, const float *angles, unsigned int numAngles, const float *speeds, unsigned int numSpeeds)
In "rec/robotino/api2/c/Com.h" you can find functions for manipulating the communication interface to...
DLLEXPORT BOOL Manipulator_setPowerEnabled(ManipulatorId id, unsigned int channel, int enable)
int ComId
Definition: Com.h:50
int ManipulatorId
Definition: Manipulator.h:18