wb_giraff_main_serial.h File Reference

#include <gu_util.h>

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Classes
struct	wb_giraff_main_serial
	Serial interface for the main giraff board. More...

Enumerations
enum	Giraff_MovementType { Rotation = 0 , Straight = 1 , Arc = 51 }
	/file wb_giraff_main_serial.h More...
enum	Giraff_CoordType { Relative_Coords = 0 , Absolute_Coords = 1 , BufferedAbsolute_Coords = 4 }
	Controls when position uses relative and absolute distances (absolute is based on odometry and is reset when coord_type is changed). More...

Enumeration Type Documentation

Giraff_CoordType

enum Giraff_CoordType

Controls when position uses relative and absolute distances (absolute is based on odometry and is reset when coord_type is changed).

Enumerator
Relative_Coords	Distances passed to position are relative to the current position.
Absolute_Coords	Distances to be are relative to the odometry zero position (odometry is reset when this is toggled to absolute mode).
BufferedAbsolute_Coords	Distances are absolute however commands are blocking and wait for previous commands to finish (buffer of 4).

Definition at line 27 of file wb_giraff_main_serial.h.

Giraff_MovementType

enum Giraff_MovementType

/file wb_giraff_main_serial.h

Created by Carl Lusty in 2014.
Copyright (c) 2014 Carl Lusty
All rights reserved.
Controls the type of movement the giraff uses

Enumerator
Rotation	Giraff rotates when position is set (deg/sec)
Straight	Giraff moves forward and backwards via position (m/sec)
Arc	Giraff arcs based on vg and position (position forward and backwards (m/s) and vg controls the wheel gear ratio)

Definition at line 17 of file wb_giraff_main_serial.h.