00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011 #ifndef __khepera3__
00012 #define __khepera3__
00013
00014 #include "knet.h"
00015
00019 #define KNET_INT0 40
00020 #define IN 1
00021 #define OUT 0
00022
00023
00027 #define KH3_ERROR_SUCCESS 0
00028 #define KH3_ERROR_KBINIT -1
00029
00030 #define KH3_ERROR_FRMSZ -2
00031 #define KH3_ERROR_SZFMT -3
00032 #define KH3_ERROR_FRMSND -4
00033 #define KH3_ERROR_GPIO -5 // Unable to initialise the GPIO
00034
00035
00039 #define K3_CMD_DELAY 300
00040
00041
00042 extern double kh3_pulses_to_mm;
00043 extern double kh3_mms_to_speed;
00044
00048
00049 extern int kh3_init( void );
00050
00051
00052 extern int kh3_getcommand( knet_dev_t * , unsigned char *);
00053 extern int kh3_sendcommand( knet_dev_t *, unsigned char *);
00054
00055
00056 extern int kh3_proximity_ir(char *, knet_dev_t *);
00057 extern int kh3_ambiant_ir(char *, knet_dev_t *);
00058 extern int kh3_battery_voltage(char *, unsigned char, knet_dev_t *);
00059 extern int kh3_reset_tstamp(char *, knet_dev_t *);
00060 extern int kh3_revision(char *, knet_dev_t *);
00061 extern int kh3_configure_os(char *, unsigned char, unsigned char, knet_dev_t *);
00062 extern int kh3_measure_us(char *, unsigned char, knet_dev_t *);
00063
00064
00065
00066 #endif