commandCtrl.h

00001 /*
00002   実際の通信処理
00003   Satofumi KAMIMURA
00004   $Id$
00005 */
00006 
00007 #if defined RUN_CTRL_H || defined RUN_CTRL_C_H || defined C_RUNCTRL_SOURCE
00008 int recvVersion(long* version);
00009 int sendPositionInit(void);
00010 
00011 int recvGetPosition(int *x, int *y, long* div16);
00012 int sendStop(char *send_packet, int *send_packet_size);
00013 int sendFollowLine(int x, int y, int div16,
00014                    char *send_packet, int *send_packet_size);
00015 int sendFollowCircle(int x, int y, int radius,
00016                      char *send_packet, int *send_packet_size);
00017 int sendStopToLine(int x, int y, int div16,
00018                    char *send_packet, int *send_packet_size);
00019 int sendTurnToDirection(int rotate_div16,
00020                         char *send_packet, int *send_packet_size);
00021 int sendRotateAngle(int rotate_div16,
00022                     char *send_packet, int *send_packet_size);
00023 int sendSpin(int rotate_div16,
00024              char *send_packet, int *send_packet_size);
00025 int sendStraightRef(int mm_vel, int straight_acc);
00026 int sendRotateRefAcc(int rotate_ref_acc);
00027 int sendRotateRef(int rotate_div16_vel, int rotate_acc);
00028 int sendStraightRefAcc(int straight_ref_acc);
00029 int sendCurveRadius(int radius_mm);
00030 int recvCurveRadius(int *radius_mm);
00031 int recvStraightVel(int *straight_vel);
00032 int sendStraightRefVel(int straight_ref_vel);
00033 int recvRotateVel(int *rotate_vel);
00034 int sendRotateRefVel(int rotate_ref_vel);
00035 int recvStableValue(int *isStable);
00036 int sendServoCtrl(int servo);
00037 int sendMotorDuty(int id, unsigned char duty_array[], int nums);
00038 int sendMotorMode(int id, unsigned char mode_array[], int nums);
00039 int recvEncoderDiff(int id, int diff_array[], int nums);
00040 int recvEncoderValue(int id, unsigned short cnt_array[], int nums);
00041 int sendWheelVel(int id, int mm_vel_array[], int nums);
00042 int sendLastMoveCommand(int last_command_unique_id,
00043                         char *send_packet, int send_packet_size);
00044 int sendChangeCoordinateOffset(int x, int y, int div16);
00045 int recvModuleMsec(unsigned long* module_msec);
00046 int sendWatchDogMsec(unsigned long msec);
00047 
00048 int recvNoResetPosition(int* x, int* y, int* div16);
00049 int recvBodyRotateCount(int* count);
00050 int recvEncoderRotateCount(int id, int count[], int num);
00051 #endif
00052