K-Team Khepera IV Stargazer, Руководство пользователя

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int
kb_stargazer_read_data ( double *
x
, double *
y
, double *
z
,
double * angle , int * idnum , char * cmode , int corr )
Reads and interprets data from the Stargazer. Should be called periodically
(up to 10 times/s).
kb_gazer_start_computation must be called once
before.
Return: 0 : no error
-1
: cannot serial port not open
-2
: cannot communicate with the Stargazer
-3
: buffer overrun (try to call more often this function!)
-4
: read command not acknowledged
-5
: data error
-6 : no landmark found
-7 : data error
-8
: no received data
-9
: mapid error
1
: update parameters after map building mode
>1
: MAPID in map building mode
Parameter:
*x : x position relative to the reference landmark in [cm], right dir.
*y : y position relative to the reference landmark in [cm], forward dir.
*z : height to the landmark in [cm]
*angle : angle relative to the reference landmark orientation in
[degree] (counterclockwise) in 0..360 range
*idnum : id number of the currently used landmark
*cmode : current mode: 'F' = map building mode, 'I' map mode, 'Z'
height calculation mode
corr:
1 apply position correction; 0 do not apply it
int
kb_gazer_calibration ( knet_dev_t *
mot1 ,
knet_dev_t *
mot2 ,
double *_
center_x0 ,
double *
_center_y0 ,
double
*
_angle_rot ,
double *
_a_axis ,
double *
_b_axis ,
double *
_stddev_x ,
double *
_stddev_y
)
Configures the Stargazer rotation compensation by moving the robot around
itself then fitting the result ellipse.
Return: 0
: no error
-1
: timeout while computing calibration
-2
: data buffer too short
-3 : error computing ellipse parameters
-4 : error: data are too scattered
< -4+ (return kb_stargazer_read_data)
: error getting Stargazer
data
Parameter:
*mode : height fix mode index.
*mot1 : left motor pointer
*mot2 : right motor pointer
*_angle_rot : angle of rotation of the fitted ellipse
*_a_axis : half major axis of the fitted ellipse
*_b_axis : half minor axis of the fitted ellipse
*_stddev_x : standard deviation error of x
*_stddev_y : standard deviation error of y