koala.c File Reference

This module provides useful basic facilities to use a Hemisson Robot from KoreBot. More...

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Functions
char *	koa_get_nextValue (char *current, char *value)
int	koa_getOSVersion (knet_dev_t *dev, unsigned char *version, unsigned char *revision, unsigned char *pversion, unsigned char *prevision)
int	koa_setPidPosition (knet_dev_t *dev, int Kp, int Ki, int Kd)
int	koa_setPositionCounter (knet_dev_t *dev, long pos_left, long pos_right)
int	koa_setPidSpeed (knet_dev_t *dev, int Kp, int Ki, int Kd)
int	koa_setPosition (knet_dev_t *dev, long pos_left, long pos_right)
int	koa_readSpeed (knet_dev_t *dev, int *speedtable)
int	koa_readPosition (knet_dev_t *dev, int *postable)
int	koa_readInput (knet_dev_t *dev, int channel)
int	koa_readAD (knet_dev_t *dev, int channel)
int	koa_setProfile (knet_dev_t *dev, int max_speed_left, int acc_left, int max_speed_right, int acc_right)
int	koa_readStatus (knet_dev_t *dev, int *statustable)
int	koa_changeLed (knet_dev_t *dev, short int led, short int action)
int	koa_readSensor (knet_dev_t *dev, int sensor)
int	koa_setSpeed (knet_dev_t *dev, short int left, short int right)
int	koa_readBattery (knet_dev_t *dev)
int	koa_readAmbient (knet_dev_t *dev, int *senstable)
int	koa_setPWM (knet_dev_t *dev, int left, int right)
int	koa_setOutput (knet_dev_t *dev, int output, int action)
int	koa_readProximity (knet_dev_t *dev, int *senstable)

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Detailed Description

This module provides useful basic facilities to use a Hemisson Robot from KoreBot.

Koala Robot Support for KoreBot.

Author:

P. Bureau (K-Team SA)

Note:

Copyright (C) 2004 K-TEAM SA

Bug:

none discovered.

Todo:

nothing.

Definition in file koala.c.

---

Function Documentation

int koa_changeLed	(	knet_dev_t *	dev,
		short int	led,
		short int	action
	)

Perform an action on one of the two LEDs of the robot. Possible actions are: 0: turn OFF, 1: turn ON, 2: change status. The LED number 0 is the lateral one, the LED number 1 is the frontal one.

Parameters:

	dev	K-Net Device Descriptor
	led	The led number to change
	action	to be done

Returns:

<=0 on error or >0 on sucess

Definition at line 451 of file koala.c.

References buf, knet_printf(), and knet_read_string().

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char* koa_get_nextValue	(	char *	current,
		char *	value
	)

Definition at line 28 of file koala.c.

Referenced by koa_readAD(), koa_readAmbient(), koa_readBattery(), koa_readInput(), koa_readPosition(), koa_readProximity(), koa_readSensor(), koa_readSpeed(), and koa_readStatus().

int koa_getOSVersion	(	knet_dev_t *	dev,
		unsigned char *	version,
		unsigned char *	revision,
		unsigned char *	pversion,
		unsigned char *	prevision
	)

This function returns the version of the Koala OS and the protocol revision .

Parameters:

dev

K-Net Device Descriptor

Definition at line 51 of file koala.c.

References buf, knet_printf(), and knet_read_string().

Referenced by main().

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int koa_readAD	(	knet_dev_t *	dev,
		int	channel
	)

Read the 10 bit value corresponding to the channel_number analog input. The value 1024 corresponds to an analog value of 4,09 Volts.

Parameters:

	dev	K-Net Device Descriptor
	channel	The channel number to read

Returns:

<0 on error or the A/D value on sucess

Definition at line 346 of file koala.c.

References buf, knet_printf(), knet_read_string(), and koa_get_nextValue().

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int koa_readAmbient	(	knet_dev_t *	dev,
		int *	senstable
	)

Read the koala ambient liht sensor value. The 16 values are returned within the senstable, which must be allocated by the caller.

Parameters:

	dev	K-Net Device Descriptor
	senstable	An array of 16 integer to store the sensor values

Returns:

<=0 on error or >0 on sucess

Definition at line 575 of file koala.c.

References buf, knet_printf(), knet_read_string(), and koa_get_nextValue().

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int koa_readBattery

(

knet_dev_t *

dev

)

Read the charge level of the battery. The number returned is the charge expressed in mAh.

Parameters:

dev

K-Net Device Descriptor

Returns:

<0 on error or the charge level on sucess

Definition at line 543 of file koala.c.

References buf, knet_printf(), knet_read_string(), and koa_get_nextValue().

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int koa_readInput	(	knet_dev_t *	dev,
		int	channel
	)

Read the status of the general input lines.

Parameters:

	dev	K-Net Device Descriptor
	channel	The channel number to read

Returns:

<0 on error or the input value on sucess

Definition at line 315 of file koala.c.

References buf, knet_printf(), knet_read_string(), and koa_get_nextValue().

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int koa_readPosition	(	knet_dev_t *	dev,
		int *	postable
	)

Read the 32 bit position counter of the two motors. The unit is the pulse.

Parameters:

	dev	K-Net Device Descriptor
	postable	Array of 2 integer to store the position readings

Returns:

<=0 on error or >0 on sucess

Remarks:

postable[0] is left motor speed

postable[1] is right motor speed

Definition at line 280 of file koala.c.

References buf, knet_printf(), knet_read_string(), and koa_get_nextValue().

Referenced by thread().

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int koa_readProximity	(	knet_dev_t *	dev,
		int *	senstable
	)

Read the koala proximity sensor value. The 16 values are returned within the senstable, which must be allocated by the caller.

Parameters:

	dev	K-Net Device Descriptor
	senstable	An array of 16 integer to store the sensor values

Returns:

<=0 on error or >0 on sucess

Definition at line 673 of file koala.c.

References buf, knet_printf(), knet_read_string(), and koa_get_nextValue().

Referenced by koa_sensor_task(), and thread().

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int koa_readSensor	(	knet_dev_t *	dev,
		int	sensor
	)

Read the value measured on one of the management sensors. Available sensors are: 0:BATTERY VOLTAGE (measure unit: 20 mV). 1: GENERAL CONSUMPTION CURRENT (measure unit: 8 mA). 2: AMBIENT TEMPERATURE (measure unit: 0.1° C). 3: LEFT MOTOR CURRENT (measure unit: 4 mA). 4: RIGHT MOTOR CURRENT (measure unit: 4 mA). 5: BATTERY TEMPERATURE (measure unit: 0.1° C).

Parameters:

	dev	K-Net Device Descriptor
	sensor	The sensor number to read

Returns:

<0 on error or the sensor value on sucess

Definition at line 482 of file koala.c.

References buf, knet_printf(), knet_read_string(), and koa_get_nextValue().

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int koa_readSpeed	(	knet_dev_t *	dev,
		int *	speedtable
	)

Read the instantaneous speed of the two motors. The unit is the pulse/10 ms that corresponds to 4.5 millimetres per second.

Parameters:

	dev	K-Net Device Descriptor
	speedtable	Array of 2 integer to store the speed readings

Returns:

<=0 on error or >0 on sucess

Remarks:

speedtable[0] is left motor speed

speedtable[1] is right motor speed

Definition at line 242 of file koala.c.

References buf, knet_printf(), knet_read_string(), and koa_get_nextValue().

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int koa_readStatus	(	knet_dev_t *	dev,
		int *	statustable
	)

Read the status of the motion controller. The status is given by three numbers for every motor: T (target), M (mode) and E (error). T=0 means that the robot is still on movement. T=1 means that the robot is on the target position. M=0 means that the current displacement is controlled in the position mode. M=1 means that the current displacement is controlled in the speed mode. E indicates controller position or speed error.

Parameters:

	dev	K-Net Device Descriptor
	statustable	Array of 6 short unsigned to store the status flags

Returns:

<=0 on error or >0 on sucess

Definition at line 414 of file koala.c.

References buf, knet_printf(), knet_read_string(), and koa_get_nextValue().

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int koa_setOutput	(	knet_dev_t *	dev,
		int	output,
		int	action
	)

Perform an action on one of the general output lines of the robot. Possible actions are: 0: turn OFF, 1: turn ON, 2: change status. Outputs 0 to 7 are the open drain outputs. The ON status correspond to the transistor closed.Outputs 8 to 11 are the digital ones.

Parameters:

	dev	K-Net Device Descriptor
	output	output number to change
	action	action to perform

Returns:

<=0 on error or >0 on sucess

Definition at line 645 of file koala.c.

References buf, knet_printf(), and knet_read_string().

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int koa_setPidPosition	(	knet_dev_t *	dev,
		int	Kp,
		int	Ki,
		int	Kd
	)

Configure the position PID controller. On robot reset the values are set to default of Kp to 400, Ki to 4, Kd to 400.

Parameters:

	dev	K-Net Device Descriptor
	Kp	Proportional Gain
	Ki	Integral Gain
	Kd	Derivative Gain

Returns:

<=0 on error or >0 on sucess

Definition at line 118 of file koala.c.

References buf, knet_printf(), and knet_read_string().

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int koa_setPidSpeed	(	knet_dev_t *	dev,
		int	Kp,
		int	Ki,
		int	Kd
	)

Configure the speed PID controller. On robot reset the values are set to default of Kp to 1000, Ki to 800, Kd to 100.

Parameters:

	dev	K-Net Device Descriptor
	Kp	Proportional Gain
	Ki	Integral Gain
	Kd	Derivative Gain

Returns:

<=0 on error or >0 on sucess

Definition at line 175 of file koala.c.

References buf, knet_printf(), and knet_read_string().

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int koa_setPosition	(	knet_dev_t *	dev,
		long	pos_left,
		long	pos_right
	)

Indicate to the wheel position controller an absolute position to be reached. The motion control perform the movement using the three control phases of a trapezoidal speed shape: an acceleration, a constant speed and a deceleration period. These phases are performed according to the parameters selected for the trapezoidal speed controller (command J). The maximum distance that can be given by this command is (2**23)-2 pulses that correspond to 318m. The unit is the pulse that corresponds to 0.045mm. The movement is done immediately after the command is sent. In the case another command is under execution (speed or position control) the last command replaces the precedent one. Any replacement transition follows acceleration and maximal speed constraints.

Parameters:

	dev	K-Net Device Descriptor
	pos_left	Target position for the left motor
	pos_right	Target position for the right motor

Returns:

<=0 on error or >0 on sucess

Definition at line 212 of file koala.c.

References buf, knet_printf(), and knet_read_string().

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int koa_setPositionCounter	(	knet_dev_t *	dev,
		long	pos_left,
		long	pos_right
	)

Set the 32 bit position counter of the two motors. The unit is the pulse, that corresponds to 0,045 mm.

Parameters:

	dev	K-Net Device Descriptor
	left_pos	Value to set left position counter
	right_pos	Value to set right position counter

Returns:

<=0 on error or >0 on sucess

Definition at line 146 of file koala.c.

References buf, knet_printf(), and knet_read_string().

Referenced by init(), reset(), and thread().

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int koa_setProfile	(	knet_dev_t *	dev,
		int	max_speed_left,
		int	acc_left,
		int	max_speed_right,
		int	acc_right
	)

Set the Speed and the acceleration for the trapezoidal speed shape of the position controller. The max_speed parameter indicates the maximal speed reached during the displacement. The unit for the speed is the pulse/10ms that corresponds to 4.5 mm/s. The unit for the acceleration is the ((pulse/256)/10 ms)/10 ms, that correspond to 1.758 mm/s2. At the reset, these parameters are set to standard values: max_speed to 20, acc to 64.

Parameters:

	dev	K-Net Device Descriptor
	max_speed_left	Maximum speed for the left motor
	acc_left	Acceleration for the left motor
	max_speed_right	Maximum speed for the right motor
	acc_right	Acceleration for the right motor

Returns:

<=0 on error or >0 on sucess

Definition at line 384 of file koala.c.

References buf, knet_printf(), and knet_read_string().

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int koa_setPWM	(	knet_dev_t *	dev,
		int	left,
		int	right
	)

Set the desired PWM amplitude (see Motors and motor control on page 9 for more details) on the two motors. The minimum PWM ratio is 0 (0%). The maximal forward ratio (100%) correspond to a value of 255. The maximal backwards ratio (100%) correspond to a value of -255.

Parameters:

	dev	K-Net Device Descriptor
	left	Left Motor PWM. (range [-255..255])
	right	Right Motor PWM. (range [-255..255])

Returns:

<=0 on error or >0 on sucess

Definition at line 614 of file koala.c.

References buf, knet_printf(), and knet_read_string().

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int koa_setSpeed	(	knet_dev_t *	dev,
		short int	left,
		short int	right
	)

This function changes the speed of the left & right motor of the Koala robot. Set the speed of the two motors. The unit is the pulse/10 ms that corres-ponds to 4.5 millimetres per second.

Parameters:

	dev	K-Net Device Descriptor
	left	Left Motor Speed. (range [-127..127])
	right	Right Motor Speed. (range [-127..127])

Returns:

<=0 on error or >0 on sucess

Remarks:

A speed of '0' stops the motor.

Definition at line 516 of file koala.c.

References buf, knet_printf(), and knet_read_string().

Referenced by handle_kill(), koa_lrf_task(), koa_net_setspeed(), koa_net_stop(), koa_sensor_task(), main(), quit(), and thread().

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