/home/ciesla/projects/svn.openrobotino.org/openrobotino1/lib/rec/robotino/com/c/PowerOutput.h File Reference

In "rec/robotino/com/c/PowerOutput.h" you can find functions for reading Robotino's bumper. More...

#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_POWEROUTPUTID   -1

Typedefs

typedef int PowerOutputId

Functions

DLLEXPORT PowerOutputId PowerOutput_construct ()
DLLEXPORT BOOL PowerOutput_destroy (PowerOutputId id)
DLLEXPORT BOOL PowerOutput_setComId (PowerOutputId id, ComId comId)
DLLEXPORT BOOL PowerOutput_setValue (PowerOutputId id, float setPoint)
DLLEXPORT float PowerOutput_current (PowerOutputId id)
DLLEXPORT float PowerOutput_rawCurrentMeasurment (PowerOutputId id)


Detailed Description

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

Use PowerOutput_construct() to create a new power output object. Associate the power output object with a com object using PowerOutput_setComId(). Use PowerOutput_open() to open the power output. Use PowerOutput_close() to open the power output. Use PowerOutput_isOpened() to check if the power output is opened. Use PowerOutput_isClosed() to check if the power output is closed.


Function Documentation

DLLEXPORT PowerOutputId PowerOutput_construct (  ) 

Construct an power output object

Returns:
Returns the ID of the newly constructed power output object.

DLLEXPORT float PowerOutput_current ( PowerOutputId  id  ) 

Parameters:
id The id of the power output object.
Returns:
The current delivered by the power output in A.

DLLEXPORT BOOL PowerOutput_destroy ( PowerOutputId  id  ) 

Destroy the power output object assigned to id

Parameters:
id The id of the power output object to be destroyed
Returns:
Returns TRUE (1) on success. Returns FALSE (0) if the given PowerOutputId is invalid.

DLLEXPORT float PowerOutput_rawCurrentMeasurment ( PowerOutputId  id  ) 

The current is measured by a 10 bit adc and is not converted into A.

Parameters:
id The id of the power output object.
Returns:
The current delivered by the power output. Range from 0 to 1023.

DLLEXPORT BOOL PowerOutput_setComId ( PowerOutputId  id,
ComId  comId 
)

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

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

DLLEXPORT BOOL PowerOutput_setValue ( PowerOutputId  id,
float  setPoint 
)

Sets the current set point of the power output.

Parameters:
id The id of the power output object.
setPoint The set point. Range from -100 to 100.
Returns:
Returns TRUE (1) on success. Returns FALSE (0) if the given PowerOutputId is invalid.


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