Relay.h File Reference

In "rec/robotino/api2/c/Relay.h" you can find functions for reading Robotino's bumper. 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_RELAYID   -1

Typedefs
typedef int	RelayId

Functions
DLLEXPORT RelayId	Relay_construct (unsigned int number)
DLLEXPORT BOOL	Relay_destroy (RelayId id)
DLLEXPORT BOOL	Relay_setComId (RelayId id, ComId comId)
DLLEXPORT BOOL	Relay_setRelayNumber (RelayId id, unsigned int n)
DLLEXPORT unsigned int	numRelays ()
DLLEXPORT BOOL	Relay_setValue (RelayId id, BOOL on)

Detailed Description

In "rec/robotino/api2/c/Relay.h" you can find functions for reading Robotino's bumper.

Use Relay_construct() to create a new relay object. Associate the relay object with a com object using Relay_setComId(). Use Relay_setSetPointSpeed() to set the relay's speed.

Macro Definition Documentation

#define INVALID_RELAYID   -1

Invalid RelayId is -1

Typedef Documentation

typedef int RelayId

RelayId

Function Documentation

DLLEXPORT unsigned int numRelays

(

)

Returns

Returns the number of drive relays on Robotino

DLLEXPORT RelayId Relay_construct

(

unsigned int

number

)

Construct an relay object

Parameters

number

number of this relay. Range [0; numRelays()-1].

Returns

Returns the ID of the newly constructed relay object.

DLLEXPORT BOOL Relay_destroy

(

RelayId

id

)

Destroy the relay object assigned to id

Parameters

id	The id of the relay object to be destroyed

Returns

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

DLLEXPORT BOOL Relay_setComId	(	RelayId	id,
		ComId	comId
	)

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

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given RelayId or ComId is invalid.

DLLEXPORT BOOL Relay_setRelayNumber	(	RelayId	id,
		unsigned int	n
	)

Sets the relay number.

Parameters

id	The id of the relay object to be set
n	The relay number. Range: [0 - numRelays()]

Exceptions

RobotinoException

if relay number is invalid.

DLLEXPORT BOOL Relay_setValue	(	RelayId	id,
		BOOL	on
	)

Sets the setpoint speed of this relay.

Parameters

id	The id of the relay object.
on	The value the relay will be set to.

Returns

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