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

In "rec/robotino/com/c/OmniDrive.h" you can find functions for manipulating Robotino's omnidrive. 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_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)


Detailed Description

In "rec/robotino/com/c/OmniDrive.h" you can find functions for manipulating Robotino's omnidrive.

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.


Function Documentation

DLLEXPORT OmniDriveId OmniDrive_construct (  ) 

Construct an OmniDrive object

Returns:
Returns the ID of the newly constructed OmniDrive object.

DLLEXPORT BOOL OmniDrive_destroy ( OmniDriveId  id  ) 

Destroy the OmniDrive object assigned to id

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

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.

Parameters:
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
Returns:
Returns TRUE (1) on success. Returns FALSE (0) if the given OmniDriveId is invalid.

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

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

DLLEXPORT BOOL OmniDrive_setVelocity ( OmniDriveId  id,
float  vx,
float  vy,
float  omega 
)

Drive Robotino associated with id

Parameters:
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
Returns:
Returns TRUE (1) on success. Returns FALSE (0) if the given OmniDriveId is invalid.


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