/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or  * modify it under the terms of the GNU General Public  * License as published by the Free Software Foundation;  * either version 2 of the License, or (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE.  See the GNU General Public License for more  * details. * * You should have received a copy of the GNU General  * Public License along with Foobar; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************/#ifndef CARMEN_BASE_LOW_LEVEL_H#define CARMEN_BASE_LOW_LEVEL_H#ifdef __cplusplusextern "C" {#endifint carmen_base_direct_sonar_on(void);int carmen_base_direct_sonar_off(void);int carmen_base_direct_reset(void);int carmen_base_direct_initialize_robot(char *model, char *dev);int carmen_base_direct_shutdown_robot(void);int carmen_base_direct_set_acceleration(double acceleration);int carmen_base_direct_set_deceleration(double deceleration);int carmen_base_direct_set_velocity(double tv, double rv);int carmen_base_direct_update_status(double* packet_timestamp);int carmen_base_direct_get_state(double *displacement, double *rotation,				 double *vl, double *vr);int carmen_base_direct_get_integrated_state(double *x, double *y, 					    double *theta, double *tv, 					    double *rv);int carmen_base_direct_get_sonars(double *ranges, carmen_point_t *positions,				  int num_sonars);int carmen_base_direct_get_bumpers(unsigned char *state, int num_bumpers);int carmen_base_direct_send_binary_data(unsigned char *data, int size);int carmen_base_direct_get_binary_data(unsigned char **data, int *size);void carmen_base_direct_arm_get(double servos[], int num_servos, 				double *currents, int *gripper);void carmen_base_direct_arm_set(double servos[], int num_servos);void carmen_base_direct_arm_set_limits(double min_angle, double max_angle,				       int min_pwm, int max_pwm);int carmen_base_query_encoders(double *disp_p, double *rot_p,			       double *tv_p, double *rv_p);#ifdef __cplusplus}#endif#endif