vomega.c File Reference

Defines the VW functions. More...

#include "vomega.h"
#include <stdlib.h>

Functions
int	VWInit ()
	Initialises the VW with settings defined in hdt file. More...
int	VWSetSpeed (int linSpeed, int angSpeed)
	Sets the VW speed, angle. More...
int	VWGetSpeed (int *linSpeed, int *angSpeed)
	Obtains the current speeds. More...
int	VWSetPosition (int x, int y, int phi)
	Sets the position wrt current position. More...
int	VWGetPosition (int *x, int *y, int *phi)
	Gets the position wrt original position. More...
int	VWControl (int Vv, int Tv, int Vw, int Tw)
	SStarts VW control. More...
int	VWControlOff (void)
	Stopss VW control. More...
int	VWStraight (int dist, int lin_speed)
	Drives straight. More...
int	VWTurn (int angle, int ang_speed)
	Turns the vehicle on the spot. More...
int	VWCurve (int dist, int angle, int lin_speed)
	Turns the vehicle in a curve. More...
int	VWDriveRemain ()
	Checks the remaining drive time. More...
int	VWDriveDone ()
	Checks to see if the current drive is complete. More...
int	VWDriveWait ()
	Blocks until the drive is complete. More...
int	VWStalled ()
	Checks to see if the vehicle is stalled. More...

Detailed Description

Defines the VW functions.

Author

Marcus Pham

Function Documentation

int VWControl	(	int	Vv,
		int	Tv,
		int	Vw,
		int	Tw
	)

SStarts VW control.

Parameters

Vv
Tv
Vw
Vw

Returns

0 on success, 1 othewrise

int VWControlOff

(

void

)

Stopss VW control.

Returns

0 on success, 1 othewrise

int VWCurve	(	int	dist,
		int	angle,
		int	lin_speed
	)

Turns the vehicle in a curve.

Parameters

dist	the radial distance
angle	the angle to rotate
lin_speed	the speed to rotate

Returns

0 on success, 1 othewrise

int VWDriveDone

(

void

)

Checks to see if the current drive is complete.

Returns

1 on completion, 0 for still driving, -1 on failure

int VWDriveRemain

(

void

)

Checks the remaining drive time.

Returns

the remaining time

int VWDriveWait

(

void

)

Blocks until the drive is complete.

Returns

0 on success, 1 othewrise

int VWGetPosition	(	int *	x,
		int *	y,
		int *	phi
	)

Gets the position wrt original position.

Parameters

x	stores the horizontal component
y	stores the vertical component
phi	stores the turn angle

Returns

0 on success, 1 othewrise

int VWGetSpeed	(	int *	linSpeed,
		int *	angSpeed
	)

Obtains the current speeds.

Parameters

linspeed	the integer to store the linear speed
angSpeed	the integer to store the angular speed

Returns

0 on success, 1 othewrise

int VWInit

(

)

Initialises the VW with settings defined in hdt file.

Returns

0 on success, 1 othewrise

int VWSetPosition	(	int	x,
		int	y,
		int	phi
	)

Sets the position wrt current position.

Parameters

x	the horizontal component
y	the vertical component
phi	the turn angle

Returns

0 on success, 1 othewrise

int VWSetSpeed	(	int	linSpeed,
		int	angSpeed
	)

Sets the VW speed, angle.

Parameters

linSpeed	the straightline speed
angSpeed	the angular turning speed

Returns

0 on success, 1 othewrise

int VWStalled

(

void

)

Checks to see if the vehicle is stalled.

Returns

0 on stalled, 1 othewrise

int VWStraight	(	int	dist,
		int	lin_speed
	)

Drives straight.

Parameters

dist	the distance to travel
lin_speed	the speed to travel at

Returns

0 on success, 1 othewrise

int VWTurn	(	int	angle,
		int	ang_speed
	)

Turns the vehicle on the spot.

Parameters

angle	the angle to turn to
ang_speed	the speed to turn the angle

Returns

0 on success, 1 othewrise