Manpage.misc.md

libypspur - miscellaneous

Gravity compensation

Name

Spur_tilt_GL, Spur_tilt_LC, Spur_tilt_FS

Synopsis

int Spur_tilt_GL(double d, double t);
int Spur_tilt_LC(double d, double t);
int Spur_tilt_FS(double d, double t);

Description

Set floor tilt angle and its direction used for gravity compensation.

• d: floor tilt orientation [rad]
• t: tilt angle [rad]

Return value

On success, 1 is returned. On error, -1 is returned.

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Emergency stop

Name

Spur_freeze, Spur_unfreeze

Synopsis

int Spur_freeze(void);
int Spur_unfreeze(void);

Description

Ignore any other control command and stop the vehicle. Unfreeze to resume normal behavior.

Return value

On success, 1 is returned. On error, -1 is returned.

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Get emergency stop status

Name

Spur_isfreeze

Synopsis

int Spur_isfreeze(void);

Description

Get current emergency stop status.

Return value

On success, 1 is returned if vehicle is in emergency stop mode, and 0 is returned elsewise. On error, -1 is returned.

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Get analog/digital converter value

Name

YP_get_ad_value

Synopsis

int YP_get_ad_value(int num);

Description

Get the current value of analog/digital converter. Note that num=15 is reserved for digital IO value.

• num: port id of the a/d port

Return value

On success, device dependent unsigned integer is returned. On error, -1 is returned.

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Set digital IO setting

Name

YP_set_io_dir, YP_set_io_data

Synopsis

int YP_set_io_dir(unsigned char dir);
int YP_set_io_data(unsigned char data);

Description

Set digital IO port directions and the output state. Results are device dependent.

• dir: 8-bit mask of output direction
• data: 8-bit output data

Return value

On success, 1 is returned. On error, -1 is returned.

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Get device error state

Name

YP_get_device_error_state

Synopsis

double YP_get_device_error_state(int id, int *err);

Description

Get device error status.

• id: ID of the device
• err: pointer to store error number

note: id and err values are device configuration dependent. Error number zero means no-error.

Return value

On success, timestamp (unix time) of the data is returned. If the device doesn't provide error state, zero is returned. On error, -1 is returned.