rosetta.c File Reference

#include <config.h>
#include <string.h>
#include <math.h>
#include <cartcomm/cframe.h>
#include <drivers/drivers.h>
#include <recorder.h>

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Data Structures
struct	state_t
Defines
#define	DEG_TO_RAD   (3.14159 / 180.0)
#define	CART_WHEEL_BASE   1.667
Functions
void *	driver_rosetta_alloc (void)
	Construct a driver.
void	driver_rosetta_free (void *data)
	Deconstruct the driver.
int	driver_rosetta (cframe_t *cf, void *data)
	Drive the cart.

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Define Documentation

#define CART_WHEEL_BASE   1.667

Definition at line 11 of file rosetta.c.

#define DEG_TO_RAD   (3.14159 / 180.0)

Definition at line 10 of file rosetta.c. Referenced by driver_rosetta().

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Function Documentation

int driver_rosetta (  cframe_t *  cframe, void *  data )

Drive the cart. The driver is responsible for taking in the values the cframe and updating the cframe for transmission back to the cart. The process of updating is loosely called "driving". Parameters: cframe  current communication frame from the cart data  private state information (obtained from driver_alloc()) Return values: 0  successful and unfinished 1  successful and finished otherwise  error Definition at line 33 of file rosetta.c. References cframe_t, cframe::cmd_irad, cframe::cmd_speed, state_t::counter, cframe::cur_mode, DEG_TO_RAD, and recorder_add().

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void* driver_rosetta_alloc (  void   )

Construct a driver. The driver usually will allocat some kind of data structure which maintains the state of the driver between calls to driver(). The driver can perform any other initialization needed during this call. Returns: private state information See also: driver_free() Definition at line 17 of file rosetta.c. References state_t::counter.

void driver_rosetta_free (  void *  data  )

Deconstruct the driver. Free any memory and clean up any other resources held by the driver. Parameters: data  private state information (obtained from driver_alloc()) Definition at line 29 of file rosetta.c.

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