K-Team Khepera IV Stargazer, Руководство пользователя

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4.4.3 Compiling your own program using the libkhepera
To make your own software to control the KSG, you need to install
the development tools for the Khepera IV on your computer (with Linux
OS). If it is not already done, please look at the Khepera IV User Manual
to know how to install it.
Once done, you can start writing your program. The best solution is
to copy the kgazer_small_ex.c source code (see chapter 4.4.4) and
modify it. The source code kgazer_test.c is a more complete example.
In any case, keep your program in the src/tests/ directory, and modify
the Makefile to compile your new software: add your new program
filename in line 35 at the variable
TARGETS of the file in the
src/test/Makefile
or start with the template program in the
template
directory.
As for all the Khepera IV extensions, you need to initialize the library
before using the functions described below.
The Libkhepera provides high-level functions which include all the
available capabilities of the KSG. Look at the following sections to view
the different exported constants variables and functions provided by the
Libkhepera for that KSG extension.
4.4.3.1 Constants
Constants defined in the header file are described below:
NB_MARK_TYPES
Number of types of different landmarks:
#define NB_MARK_TYPES 6
HLD1S
Index of landmark type HLD1S:
#define HLD1S 0
HLD1L
Index of landmark type HLD1L:
#define HLD1L 1
HLD2S
Index of landmark type HLD2S:
#define HLD2S 2