You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
94 lines
2.8 KiB
C
94 lines
2.8 KiB
C
#pragma once
|
|
|
|
// Handle for the high level robot interface
|
|
struct Robot;
|
|
typedef struct Robot* Robot;
|
|
|
|
/*
|
|
* Return a handle to the high level robot interface, or NULL on error.
|
|
*/
|
|
Robot robot_new();
|
|
|
|
/*
|
|
* Queue initialization tasks before further commands can be sent to the robot.
|
|
* The robot is not guaranteed to be ready until a ready message is popped from
|
|
* the work function.
|
|
*
|
|
* robot: The robot to initialize
|
|
* returns: 0 on success, non-zero on failure
|
|
*/
|
|
int robot_init(Robot robot);
|
|
|
|
/*
|
|
* Request the robot to stop. This does not stop the robot immediately. The
|
|
* robot has stopped once the work function returns that there is no more work
|
|
* to do.
|
|
*
|
|
* robot: The robot to stop
|
|
* returns: 0 on success, non-zero on failure
|
|
*/
|
|
int robot_stop(Robot robot);
|
|
|
|
/*
|
|
* Set the gimble speed. A packet will be sent to the robot on
|
|
* the next ready tick of the work function.
|
|
*
|
|
* robot: The robot to set the velocity of
|
|
* p: pitch speed
|
|
* y: yaw speed
|
|
* returns: 0 on success, non-zero on failure
|
|
*/
|
|
int robot_aim(Robot, float p, float y);
|
|
|
|
/*
|
|
* Set the velocity of the robot chassis. A packet will be sent to the robot on
|
|
* the next ready tick of the work function.
|
|
*
|
|
* robot: The robot to set the velocity of
|
|
* x: strafe velocity
|
|
* y: forward and backward velocity
|
|
* r: rotation velocity
|
|
* returns: 0 on success, non-zero on failure
|
|
*/
|
|
int robot_drive(Robot, float x, float y, float r);
|
|
|
|
/*
|
|
* TODO: This is too simplistic for what the lights are capable of.
|
|
* Set the color of all LEDs on the robot. A packet will be sent to the robot
|
|
* on the next ready tick of the work function.
|
|
*
|
|
* robot: The robot to set LED colors of
|
|
* r: red
|
|
* g: green
|
|
* b: blue
|
|
* returns: 0 on success, non-zero on failure
|
|
*/
|
|
int robot_led(Robot, unsigned char r, unsigned char g, unsigned char b);
|
|
|
|
/*
|
|
* If the robot is in ready mode, this makes the robot send a heartbeat in
|
|
* the next tick of the work function. The work function will not do anything
|
|
* else until a heartbeat response is received.
|
|
*
|
|
* A heartbeat must be sent periodically or else the robot will become
|
|
* unresponsive. This function is thread-safe and can be called in a
|
|
* busy-waiting loop, signal handler, or background thread.
|
|
*
|
|
* robot: The robot to send a heartbeat to
|
|
* returns: 0 on success, non-zero on failure
|
|
*/
|
|
int robot_heartbeat(Robot robot);
|
|
|
|
/*
|
|
* This does all of the work in small pieces so it returns as quickly as
|
|
* possible. Most of the other functions in this API simply set a flag
|
|
* to signal this function to work. A non-zero value is returned until
|
|
* no more work is left, which would only happen shortly after the stop
|
|
* function is called and any remaining tasks have been worked through.
|
|
*
|
|
* robot: The robot to do periodic work on
|
|
* returns: non-zero until stop function is called
|
|
*/
|
|
int robot_work(Robot robot);
|
|
|