NiboRoboLib 3.6 - NIBO Library
nds3.h
gehe zur Dokumentation dieser Datei
1 /* BSD-License:
2 
3 Copyright (c) 2007 by Nils Springob, nicai-systems, Germany
4 
5 All rights reserved.
6 
7 Redistribution and use in source and binary forms, with or without modification,
8 are permitted provided that the following conditions are met:
9 
10  * Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
12  * Redistributions in binary form must reproduce the above copyright notice,
13  this list of conditions and the following disclaimer in the documentation
14  and/or other materials provided with the distribution.
15  * Neither the name nicai-systems nor the names of its contributors may be
16  used to endorse or promote products derived from this software without
17  specific prior written permission.
18 
19 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
22 A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
23 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
24 EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
25 PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
26 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
27 LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
28 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
29 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30 
31 */
32 
42 #ifndef NIBO_NDS3_H_
43 #define NIBO_NDS3_H_
44 #if defined(NIBO_USE_NDS3) || defined (DOXYGEN)
45 
46 #include <stdint.h>
47 
48 #ifdef __cplusplus
49 extern "C" {
50 #endif
51 
55 void nds3_init();
56 
60 void nds3_reset();
61 
67 void nds3_move(uint8_t dir);
68 
76 void nds3_measure(uint8_t dir, int8_t step);
77 
78 extern uint8_t nds3_distances[181];
79 
94 void nds3_read(uint8_t dir, uint8_t step);
95 
100 uint8_t nds3_get_pos();
101 
106 uint8_t nds3_get_dist();
107 
112 uint8_t nds3_get_busy();
113 
114 
120 extern uint8_t nds3_ddr;
121 
127 extern uint8_t nds3_port;
128 
134 extern uint8_t nds3_pin;
135 
140 void nds3_ddr_commit();
141 
146 void nds3_port_commit();
147 
152 void nds3_pin_update();
153 
158 uint16_t nds3_get_analog(uint8_t idx);
159 
163 void nds3_move_servo(uint16_t usecs);
164 
168 extern uint16_t nds3_servocalib_hi;
169 
173 extern uint16_t nds3_servocalib_mid;
174 
178 extern uint16_t nds3_servocalib_lo;
179 
184 
189 
193 extern uint16_t nds3_distcalib_v0;
194 
198 extern uint16_t nds3_distcalib_d0;
199 
203 extern uint16_t nds3_distcalib_alpha;
204 
212 void nds3_distcalib_update();
213 
217 void nds3_distcalib_commit();
218 
219 
220 #ifdef __cplusplus
221 } // extern "C"
222 #endif
223 
224 #endif // NIBO_USE_NDS3
225 #endif // NIBO_NDS3_H_
void nds3_port_commit()
void nds3_move_servo(uint16_t usecs)
void nds3_init()
uint16_t nds3_servocalib_lo
void nds3_servocalib_commit()
uint8_t nds3_get_pos()
uint16_t nds3_servocalib_hi
uint16_t nds3_distcalib_alpha
void nds3_read(uint8_t dir, uint8_t step)
void nds3_pin_update()
uint16_t nds3_distcalib_v0
void nds3_measure(uint8_t dir, int8_t step)
uint8_t nds3_pin
uint8_t nds3_ddr
uint16_t nds3_get_analog(uint8_t idx)
void nds3_reset()
void nds3_distcalib_commit()
uint8_t nds3_get_dist()
uint8_t nds3_get_busy()
uint8_t nds3_port
uint16_t nds3_servocalib_mid
uint16_t nds3_distcalib_d0
void nds3_servocalib_update()
void nds3_ddr_commit()
void nds3_move(uint8_t dir)
void nds3_distcalib_update()