khepera3_test.c File Reference

This is an application that demonstrates the various khepera3 commands. More...

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Defines
#define	MAXBUFFERSIZE   100
#define	BR_IRGAIN   30
#define	fwSpeed   20
#define	MIN_SPEED   10
#define	RotSpeedL   50
#define	RotSpeedR   -50
Functions
int	initMot (knet_dev_t *hDev)
int	initKH3 (void)
int	proxIR (int argc, char *argv[], void *data)
int	ambIR (int argc, char *argv[], void *data)
int	voltageBAT (int argc, char *argv[], void *data)
int	tstampRST (int argc, char *argv[], void *data)
int	revisionOS (int argc, char *argv[], void *data)
int	configureOS (int argc, char *argv[], void *data)
int	measureUS (int argc, char *argv[], void *data)
int	motSpeed (int argc, char *argv[], void *data)
int	motMove (int argc, char *argv[], void *data)
int	motStop (int argc, char *argv[], void *data)
int	braitenbergAvoidance (int argc, char *argv[], void *data)
int	quit (int argc, char *argv[], void *data)
int	help (int argc, char *argv[], void *data)
int	main (int arc, char *argv[])
Variables
static int	quitReq = 0
static char	buf [1024]
static knet_dev_t *	dsPic
static knet_dev_t *	mot1
static knet_dev_t *	mot2
static kb_command_t	cmds []

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Detailed Description

This is an application that demonstrates the various khepera3 commands.

Khepera3 test application

Author:

Arnaud Maye (K-Team SA)

Note:

Copyright (C) 2005 K-TEAM SA

Bug:

none discovered.

Todo:

nothing.

Khepera3 test application

Author:

Arnaud Maye (K-Team SA)

Note:

Copyright (C) 2005 K-TEAM SA

Bug:

none discovered.

Todo:

nothing.

Definition in file khepera3_test.c.

---

Define Documentation

#define BR_IRGAIN   30

Braintenberg demo program

Parameters:

none.

Definition at line 390 of file khepera3_test.c.

Referenced by braitenbergAvoidance().

#define fwSpeed   20

Definition at line 391 of file khepera3_test.c.

Referenced by braitenbergAvoidance().

#define MAXBUFFERSIZE   100

Definition at line 17 of file khepera3_test.c.

#define MIN_SPEED   10

Definition at line 392 of file khepera3_test.c.

Referenced by braitenbergAvoidance().

#define RotSpeedL   50

Definition at line 393 of file khepera3_test.c.

Referenced by braitenbergAvoidance().

#define RotSpeedR   -50

Definition at line 394 of file khepera3_test.c.

Referenced by braitenbergAvoidance().

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Function Documentation

int ambIR	(	int	argc,
		char *	argv[],
		void *	data
	)

ambIR retrieves ambiant ir measure using kb_khepera3.c library.

Definition at line 129 of file khepera3_test.c.

References kh3_ambiant_ir(), and MAXBUFFERSIZE.

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int braitenbergAvoidance	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 396 of file khepera3_test.c.

References BR_IRGAIN, fwSpeed, kb_gpio_get(), kh3_proximity_ir(), kh3_sendcommand(), kmot_GetMeasure(), kmot_SetPoint(), kMotMesSpeed, kMotRegPos, kMotRegSpeed, KNET_INT0, knet_llread(), MAXBUFFERSIZE, MIN_SPEED, RotSpeedL, and RotSpeedR.

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int configureOS	(	int	argc,
		char *	argv[],
		void *	data
	)

configureOS configures various parameters inside the kh3 firmware using kb_khepera3.c library.

Parameters:

	1st	first param (argv[1]) is the index pointing in configuration array.
	2nd	the second param (argv[2]) is the value to store where the index point at.

Definition at line 263 of file khepera3_test.c.

References kh3_configure_os(), and MAXBUFFERSIZE.

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int help	(	int	argc,
		char *	argv[],
		void *	data
	)

Display a list of available commands.

Definition at line 453 of file koala_GoAutomation.c.

int initKH3

(

void

)

initKH3 initialize various things in the kh3 then sequentialy open the various required handle to the three i2c devices on the khepera3 using knet_open from the knet.c libkorebot's modules. Finaly, this function initializes then configures the motor control unit.

Returns:

A value :

• 1 if success
• 0 if any error

Definition at line 81 of file khepera3_test.c.

References initMot(), kh3_init(), KNET_BUS_I2C, and knet_open().

Referenced by main().

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int initMot

(

knet_dev_t *

hDev

)

initMot initializes then configures the motor control unit.

Returns:

A value :

• 1 if success
• 0 if any error

Definition at line 39 of file khepera3_test.c.

References kmot_ConfigurePID(), kmot_ResetError(), kmot_SetBlockedTime(), kmot_SetLimits(), kmot_SetMargin(), kmot_SetMode(), kmot_SetOptions(), kmot_SetSampleTime(), kmot_SetSpeedProfile(), kMotModeIdle, kMotRegCurrent, kMotRegPos, kMotRegSpeed, kMotSWOptDirectionInv, kMotSWOptStopMotorBlk, and kMotSWOptWindup.

Referenced by initKH3().

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int main	(	int	arc,
		char *	argv[]
	)

Definition at line 566 of file khepera3_test.c.

References buf, initKH3(), kb_parse_command(), kh3_revision(), MAXBUFFERSIZE, and quitReq.

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int measureUS	(	int	argc,
		char *	argv[],
		void *	data
	)

measureUS retrieves ultrasonic measure from a given transceiver.

Parameters:

1st

first param (argv[1]) is the us number to read from (1 to 5).

Definition at line 286 of file khepera3_test.c.

References kh3_measure_us(), and MAXBUFFERSIZE.

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int motMove	(	int	argc,
		char *	argv[],
		void *	data
	)

motMove configures the motor controller position in the engine control unit.

Parameters:

	1st	first param (argv[1]) is the motor1 position.
	2nd	second param (argv[2]) is the motor2 position.

Definition at line 355 of file khepera3_test.c.

References kmot_SetPoint(), and kMotRegPos.

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int motSpeed	(	int	argc,
		char *	argv[],
		void *	data
	)

motSpeed configures the motor controller speed in the engine control unit.

Parameters:

	1st	first param (argv[1]) is the motor1 speed.
	2nd	second param (argv[2]) is the motor2 speed.

Definition at line 336 of file khepera3_test.c.

References kmot_SetPoint(), and kMotRegSpeed.

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int motStop	(	int	argc,
		char *	argv[],
		void *	data
	)

motStop stops the motor in the engine control unit.

Parameters:

none.

Definition at line 372 of file khepera3_test.c.

References kmot_SetMode(), and kMotModeStopMotor.

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int proxIR	(	int	argc,
		char *	argv[],
		void *	data
	)

proxIR retrieves proximity ir measure using kb_khepera3.c library.

Definition at line 111 of file khepera3_test.c.

References kh3_proximity_ir(), and MAXBUFFERSIZE.

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int quit	(	int	argc,
		char *	argv[],
		void *	data
	)

Quit the program.

Definition at line 522 of file khepera3_test.c.

References quitReq.

int revisionOS	(	int	argc,
		char *	argv[],
		void *	data
	)

revisionOS retrieves the khepera3 os version using kb_khepera3.c library.

Definition at line 229 of file khepera3_test.c.

References kh3_revision(), kmot_GetFWVersion(), KMOT_REVISION, KMOT_VERSION, and MAXBUFFERSIZE.

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int tstampRST	(	int	argc,
		char *	argv[],
		void *	data
	)

tstampRST resets the relative time stamp using kb_khepera3.c library.

Definition at line 216 of file khepera3_test.c.

References kh3_reset_tstamp(), and MAXBUFFERSIZE.

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int voltageBAT	(	int	argc,
		char *	argv[],
		void *	data
	)

voltageBAT retrieves the battery voltage using kb_khepera3.c library.

Definition at line 147 of file khepera3_test.c.

References kh3_battery_voltage(), and MAXBUFFERSIZE.

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Variable Documentation

char buf[1024] [static]

Definition at line 20 of file khepera3_test.c.

kb_command_t cmds[] [static]

Initial value:

 {
 { "quit"            , 0 , 0 , quit } ,
 { "exit"            , 0 , 0 , quit } ,
 { "bye"             , 0 , 0 , quit } ,
 { "setcfg"          , 2 , 2 , configureOS },
 { "getrev"          , 0 , 0 , revisionOS },
 { "getbat"          , 1 , 1 , voltageBAT },
 { "rststamp"        , 0 , 0 , tstampRST },    
 { "getambir"        , 0 , 0 , ambIR },
 { "getproxir"       , 0 , 0 , proxIR },
 { "getus"           , 1 , 1 , measureUS },
 { "setmotspeed"     , 2 , 2 , motSpeed },
 { "setmotmove"      , 2 , 2 , motMove },
 { "motstop"         , 0 , 0 , motStop },
 { "braiten"         , 0 , 0 , braitenbergAvoidance},
 { "help"            , 0 , 0 , help } ,
 { NULL              , 0 , 0 , NULL }
}

The command table contains: command name : min number of args : max number of args : the function to call

Definition at line 533 of file khepera3_test.c.

knet_dev_t* dsPic [static]

handle to the various khepera3 devices (knet socket, i2c mode)

Definition at line 25 of file khepera3_test.c.

knet_dev_t* mot1 [static]

Definition at line 26 of file khepera3_test.c.

knet_dev_t* mot2 [static]

Definition at line 27 of file khepera3_test.c.

int quitReq = 0 [static]

Definition at line 19 of file khepera3_test.c.