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cellulounity.h
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Fri, Mar 29, 02:39
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Sun, Mar 31, 03:39 (2 d)
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R9807 cellulo-lua
cellulounity.h
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#ifndef CELLULOUNITY_H
#define CELLULOUNITY_H
#include "cellulo-qml-plugin/src/comm/CelluloBluetoothScanner.h"
#include <stdint.h>
typedef
void
(
*
callback_t
)();
extern
"C"
{
// Library initialization
void
initialize
();
// Scanner bindings
void
startScanning
();
void
stopScanning
();
void
clearScanResults
();
int
getScanResultsLength
();
const
char
*
getScanResultAtIndex
(
int
index
);
// Robot creation
int64_t
newRobotFromPool
();
int64_t
newRobotFromMAC
(
const
char
*
address
);
// Robot bindings
void
setGoalVelocity
(
int64_t
robot
,
float
vx
,
float
vy
,
float
w
);
void
setGoalPose
(
int64_t
robot
,
float
x
,
float
y
,
float
theta
,
float
v
,
float
w
);
void
setGoalPosition
(
int64_t
robot
,
float
x
,
float
y
,
float
v
);
void
clearTracking
(
int64_t
robot
);
void
clearHapticFeedback
(
int64_t
robot
);
void
setVisualEffect
(
int64_t
robot
,
int64_t
effect
,
int64_t
r
,
int64_t
g
,
int64_t
b
,
int64_t
value
);
void
setCasualBackdriveAssistEnabled
(
int64_t
robot
,
int64_t
enabled
);
void
setHapticBackdriveAssist
(
int64_t
robot
,
float
xAssist
,
float
yAssist
,
float
thetaAssist
);
void
reset
(
int64_t
robot
);
void
simpleVibrate
(
int64_t
robot
,
float
iX
,
float
iY
,
float
iTheta
,
int64_t
period
,
int64_t
duration
);
float
getX
(
int64_t
robot
);
float
getY
(
int64_t
robot
);
float
getTheta
(
int64_t
robot
);
int64_t
getKidnapped
(
int64_t
robot
);
void
destroyRobot
(
int64_t
robot
);
// Check number of robots
int64_t
robotsRemaining
();
int64_t
totalRobots
();
// Debug
const
char
*
getMacAddr
(
int64_t
robot
);
int
getConnectionStatus
(
int64_t
robot
);
}
#endif
// CELLULOUNITY_H
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