atlas2000.cpp File Reference

atlas2000.cpp file for this module. This is where main is defined and etc. More...

#include <lar/atlas2000_interface.h>
#include <strings.h>

Include dependency graph for atlas2000.cpp:

Defines
#define	bzero(b, len)   (memset((b), '\0', (len)), (void) 0)
#define	RELEASE   0
#define	TABLESIZE   11
Functions
static void	initialize_robot (void)
	initialize usb devices if not in dummy mode
void	atlas_motion_command (void)
	prepares a motion message, using a PWM table, and send message to PIC if not in dummy mode
void	atlas_lights_command (void)
	prepares a lights command message, using a byte table, and send message to PIC if not in dummy mode, more important, receive a message from the PIC regarding the cross sensor
void	safety_handler (void)
	this is a legacy function used to halt the robot if link with host was lost. should not be used
void	read_frequency_change_handler ()
	called when frequency of messaging changes, for now it olny prints a message
void	shutdown_module (int x)
	makes a clean shutdown of the program
int	main (int argc, char **argv)
	the main fuction
Variables
char *	COM_DEVICE_MOTORS
char *	COM_DEVICE_SENSORS
int	PortHandlerMotors
int	PortHandlerSensors
int	arguments
int	table_pwm_to_send [TABLESIZE] = {0 , 10 , 20 , 30 , 40 , 45 , 50 , 60, 70 , 80 ,90}
int	table_dir_angle [TABLESIZE] = {-11 , -8 , -4 , -2 , -1 , 0 , 1 , 3 , 5 , 8 , 11}
double	read_frequency
double	time_elapsed
double	maximum_dir
double	minimum_dir
unsigned char	cross_sensor
IPC_RETURN_TYPE	err
robot_motion_command_message	motion_command
robot_lights_command_message	lights_command
robot_vert_sign_command_message	vert_sign_command
TYPE_executionflags	flags
carmen_param_t	basesensor_params []

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Detailed Description

atlas2000.cpp file for this module. This is where main is defined and etc.