Difference between revisions of "SmartRobotinoBatteryChargerDocking4"
From RobotinoWiki
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==Python interface== | ==Python interface== | ||
− | + | <pre> | |
− | + | os << "IrDockingTask:" << std::endl; | |
− | + | os << " get_bumper - return an integer with the bumper state. 0 not pressed. 1 pressed." << std::endl; | |
− | + | os << " get_extpower - return an integer with the ext_power state. 0 not connected. 1 connected." << std::endl; | |
− | + | os << " get_pos - return (x,y,phi)" << std::endl; | |
− | + | os << " get_dist - return (d0,...,d8) distance sensor readings in meters" << std::endl; | |
− | + | os << " set_vel(vx, vy, omega) - Set velocity in m/s and rad/s." << std::endl; | |
− | + | os << " iniData - Get ini file parameters as json encoded string." << std::endl; | |
− | + | os << " get_numMarkers - Get the number of markers found by the laser scanner. Return type int." << std::endl; | |
− | + | os << " get_markerX(i) - Get x coord of marker at index i. Return type float." << std::endl; | |
− | + | os << " get_markerY(i) - Get y coord of marker at index i. Return type float." << std::endl; | |
− | + | os << " get_markerNumScanPoints(i) - Get num scan points of marker at index i. Return type int." << std::endl; | |
− | + | os << " get_numStations - Get the number of stations found by the laser scanner. Return type int." << std::endl; | |
− | + | os << " get_stationLeftMarkerX - Get x coord of first station. Return type float." << std::endl; | |
− | + | os << " get_stationLeftMarkerY - Get y coord of first station. Return type float." << std::endl; | |
− | + | os << " get_stationRightMarkerX - Get x coord of right marker of first station. Return type float." << std::endl; | |
− | + | os << " get_stationRightMarkerY - Get y coord of right marker of first station. Return type float." << std::endl; | |
− | + | os << " get_stationLeftMarkerX - Get x coord of left marker of first station. Return type float." << std::endl; | |
− | + | os << " get_stationLeftMarkerY - Get y coord of left marker of first station. Return type float." << std::endl; | |
− | + | os << " get_stationPosX - Get x coord of first station. Return type float." << std::endl; | |
− | + | os << " get_stationPosY - Get y coord of first station. Return type float." << std::endl; | |
− | + | os << " get_stationNormalX - Get x coord of normal verctor of first station. Return type float." << std::endl; | |
− | + | os << " get_stationNormalY - Get y coord of normal vector of first station. Return type float." << std::endl; | |
− | + | os << " get_stationWidth - Get distance between left and right marker of first station. Return type float." << std::endl; | |
− | + | os << std::endl; | |
− | + | os << "return code: 0 continue, 1 error, 2 finished docking" << std::endl; | |
− | + | </pre> | |
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Revision as of 10:25, 18 July 2022
Python interface
os << "IrDockingTask:" << std::endl; os << " get_bumper - return an integer with the bumper state. 0 not pressed. 1 pressed." << std::endl; os << " get_extpower - return an integer with the ext_power state. 0 not connected. 1 connected." << std::endl; os << " get_pos - return (x,y,phi)" << std::endl; os << " get_dist - return (d0,...,d8) distance sensor readings in meters" << std::endl; os << " set_vel(vx, vy, omega) - Set velocity in m/s and rad/s." << std::endl; os << " iniData - Get ini file parameters as json encoded string." << std::endl; os << " get_numMarkers - Get the number of markers found by the laser scanner. Return type int." << std::endl; os << " get_markerX(i) - Get x coord of marker at index i. Return type float." << std::endl; os << " get_markerY(i) - Get y coord of marker at index i. Return type float." << std::endl; os << " get_markerNumScanPoints(i) - Get num scan points of marker at index i. Return type int." << std::endl; os << " get_numStations - Get the number of stations found by the laser scanner. Return type int." << std::endl; os << " get_stationLeftMarkerX - Get x coord of first station. Return type float." << std::endl; os << " get_stationLeftMarkerY - Get y coord of first station. Return type float." << std::endl; os << " get_stationRightMarkerX - Get x coord of right marker of first station. Return type float." << std::endl; os << " get_stationRightMarkerY - Get y coord of right marker of first station. Return type float." << std::endl; os << " get_stationLeftMarkerX - Get x coord of left marker of first station. Return type float." << std::endl; os << " get_stationLeftMarkerY - Get y coord of left marker of first station. Return type float." << std::endl; os << " get_stationPosX - Get x coord of first station. Return type float." << std::endl; os << " get_stationPosY - Get y coord of first station. Return type float." << std::endl; os << " get_stationNormalX - Get x coord of normal verctor of first station. Return type float." << std::endl; os << " get_stationNormalY - Get y coord of normal vector of first station. Return type float." << std::endl; os << " get_stationWidth - Get distance between left and right marker of first station. Return type float." << std::endl; os << std::endl; os << "return code: 0 continue, 1 error, 2 finished docking" << std::endl;