- Initialization
- Spur_init, Spur_initex, Spur_init_socket
- Motion control
- Spur_set_vel, Spur_set_angvel, Spur_set_accel, Spur_set_angaccel
- Spur_line_GL, Spur_line_LC, Spur_line_FS
- Spur_circle_GL, Spur_circle_LC, Spur_circle_FS - Circle following
- Spur_spin_GL, Spur_spin_LC, Spur_spin_FS
- Spur_orient_GL, Spur_orient_LC, Spur_orient_FS
- Spur_stop_line_GL, Spur_stop_line_LC, Spur_stop_line_FS
- Spur_vel
- Spur_stop
- Spur_free, Spur_openfree
- Coordinate system
- Spur_get_pos_GL, Spur_get_pos_LC
- Spur_set_pos_GL, Spur_set_pos_LC
- Spur_adjust_pos_GL, Spur_adjust_pos_LC, Spur_adjust_pos_FS
- Spur_over_line_GL, Spur_over_line_LC, Spur_over_line_FS
- Spur_near_pos_GL, Spur_near_pos_LC
- Spur_near_angle_GL, Spur_near_angle_LC
- Vehicle state
- Spur_get_vel
- Spur_get_force
- Spur_get_vel
- Spur_get_force
- Joint control
- Spur_get_joint_ang, Spur_get_joint_vel, Spur_get_joint_torque
- Spur_set_joint_vel, Spur_set_joint_accel
- Spur_joint_ang, Spur_joint_vel, Spur_joint_torque, Spur_joint_ang_vel
- Miscellaneous
- Spur_tilt_GL, Spur_tilt_LC, Spur_tilt_FS
- Spur_freeze, Spur_unfreeze
- Spur_isfreeze
- YP_get_ad_value
- YP_set_io_dir, YP_set_io_data