K-Team Khepera IV Stargazer, Руководство пользователя

Страница: 21 / 30

17
4.4.3.2 Variables
External variables for transferring data that are declared in the
header file and defined in the library are described below:
kb_gazer_landmark_types
Array of array of char containing landmark types, defined like this:
const char *
kb_gazer_landmark_types
[] =
{"HLD1S","HLD1L","HLD2S","HLD2L","HLD3S","HLD3L"};
kb_gazer_landmark_modes
Array of array of char containing landmark modes, defined like this:
const char *
kb_gazer_landmark_modes
[] = {"Alone","Map"};
kb_gazer_height_fix_modes
Array of array of char containing height modes, defined like this:
const char * kb_gazer_height_fix_modes [] = {"No","Yes"};
4.4.3.3 High-level functions of the libkhepera
There below you will find details about declared functions for the KSG
extensions in the Libkhepera libraries.
The
green
words indicate the type of the function (or parameter)
and must not be included in your code.
The
blue
words are the parameters. You must declare it in your code
before calling the function.
Only the black words can be directly added to your code.
int
kb_stargazer_Init ( char
* DeviceName
)
Initializes the library to use the different KSG functions and stops the
module sending position. This function must be called at the beginning of
each program using the KSG.
Return: 0
: no error
-1
: error initialising gpio
-2
: cannot open serial port
-3
: cannot communicate with the Stargazer
Parameter: * DeviceName : name of the device where the KSG is
connected. Should be "/dev/ttyS2".