#include "rec/robotino/com/c/globals.h"
#include "rec/robotino/com/c/Com.h"
Go to the source code of this file.
Defines | |
#define | INVALID_OMNIDRIVEID -1 |
Typedefs | |
typedef int | OmniDriveId |
Functions | |
DLLEXPORT OmniDriveId | OmniDrive_construct () |
DLLEXPORT BOOL | OmniDrive_destroy (OmniDriveId id) |
DLLEXPORT BOOL | OmniDrive_setComId (OmniDriveId id, ComId comId) |
DLLEXPORT BOOL | OmniDrive_setVelocity (OmniDriveId id, float vx, float vy, float omega) |
DLLEXPORT BOOL | OmniDrive_project (OmniDriveId id, float *m1, float *m2, float *m3, float vx, float vy, float omega) |
Use OmniDrive_construct() to create a new omnidrive object. Associate the omnidrive object with a com object using OmniDrive_setComId(). Use OmniDrive_setVelocity() to drive Robotino.
DLLEXPORT OmniDriveId OmniDrive_construct | ( | ) |
Construct an OmniDrive object
DLLEXPORT BOOL OmniDrive_destroy | ( | OmniDriveId | id | ) |
Destroy the OmniDrive object assigned to id
id | The id of the OmniDrive object to be destroyed |
DLLEXPORT BOOL OmniDrive_project | ( | OmniDriveId | id, | |
float * | m1, | |||
float * | m2, | |||
float * | m3, | |||
float | vx, | |||
float | vy, | |||
float | omega | |||
) |
Project the velocity of the robot in cartesian coordinates to single motor speeds.
id | The omnidrive id | |
m1 | The resulting speed of motor 1 in rpm | |
m2 | The resulting speed of motor 2 in rpm | |
m3 | The resulting speed of motor 3 in rpm | |
vx | Velocity in x-direction in mm/s | |
vy | Velocity in y-direction in mm/s | |
omega | Angular velocity in deg/s |
DLLEXPORT BOOL OmniDrive_setComId | ( | OmniDriveId | id, | |
ComId | comId | |||
) |
Associated an OmniDrive object with a communication interface, i.e. binding the OmniDrive to a specific Robotino
DLLEXPORT BOOL OmniDrive_setVelocity | ( | OmniDriveId | id, | |
float | vx, | |||
float | vy, | |||
float | omega | |||
) |
Drive Robotino associated with id
id | The omnidrive id | |
vx | Velocity in x-direction in mm/s | |
vy | Velocity in y-direction in mm/s | |
omega | Angular velocity in deg/s |