helicontrol.h

Go to the documentation of this file.

/***************************************************************************
 *  helicontrol - c/c++ control api for silverlit helicopters/quadcopters  *
 *  Copyright (C) 2008 by                                                  *
 *  Joint Robotics Lab                                                     *
 *  Goethe-University Frankfurt, Germany                                   *
 *  http://www.jrl.cs.uni-frankfurt.de                                     *
 *                                                                         *
 *  This library is free software; you can redistribute it and/or          *
 *  modify it under the terms of the GNU General Public                    *
 *  License as published by the Free Software Foundation                   *
 *  version 2 of the License.                                              *
 *                                                                         *
 *  This program is distributed in the hope that it will be useful,        *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of         *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU      *
 *  General Public License for more details.                               *
 *                                                                         *
 *  You should have received a copy of the GNU General Public              *
 *  License along with this library; if not, write to the Free Software    *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA02110-1301 USA*
 ***************************************************************************/

/* $Id: helicontrol.h 272 2008-12-17 22:50:20Z holgerf $ */

#ifndef HELICONTROL_H
#define HELICONTROL_H

#include <usb.h>
#include "helicontrol_firmware.h"

#ifdef __cplusplus
extern "C"
{
#endif


#define HC_PICOOZ_LEFT                 -1

#define HC_PICOOZ_RIGHT                 1

#define HC_PICOOZ_MAX_THROTTLE         14

#define HC_PICOOZ_MAX_YAW               3

#define HC_PICOOZ_CHANNEL_A             0

#define HC_PICOOZ_CHANNEL_B             1

#define HC_PICOOZ_CHANNEL_C             2

#define HC_CHALLENGER_LEFT             -1

#define HC_CHALLENGER_RIGHT             1

#define HC_CHALLENGER_MAX_THROTTLE     15

#define HC_CHALLENGER_MAX_YAW           3

#define HC_CHALLENGER_CHANNEL_A         1

#define HC_CHALLENGER_CHANNEL_B         2

#define HC_URANUS_LEFT                 -1

#define HC_URANUS_RIGHT                 1

#define HC_URANUS_MAX_THROTTLE         15

#define HC_URANUS_MAX_YAW               3

#define HC_URANUS_CHANNEL_A             1

#define HC_URANUS_CHANNEL_B             2

#define HC_URANUS_PITCH_NONE            0

#define HC_URANUS_PITCH_SLOW            1

#define HC_URANUS_PITCH_FAST            3

#define HC_URANUS_PITCH_CONT            2

#define HC_TANDEMZ_LEFT                 1

#define HC_TANDEMZ_RIGHT               -1

#define HC_TANDEMZ_MAX_THROTTLE        15

#define HC_TANDEMZ_MAX_TRIM            31

#define HC_TANDEMZ_MAX_PITCH            5

#define HC_TANDEMZ_MAX_YAW             30

#define HC_TANDEMZ_CHANNEL_A            0

#define HC_TANDEMZ_CHANNEL_B            1

#define HC_TANDEMZ_CHANNEL_C            2

#define HC_TANDEMZ_PITCH_CENTER         2

#define HC_SAUCER_LEFT                 -1

#define HC_SAUCER_RIGHT                 1

#define HC_SAUCER_FORWARD              -1

#define HC_SAUCER_BACKWARD              1

#define HC_SAUCER_MAX_THROTTLE         15

#define HC_SAUCER_MAX_PITCH             7

#define HC_SAUCER_MAX_YAW               7

#define HC_SAUCER_MAX_ROLL              7

struct usb_dev_handle *HC_Init(void);

int HC_Read_Firmware_Revision(usb_dev_handle *handle, char *fwstring, size_t maxlen);

int HC_Read_Firmware_Build_Date(usb_dev_handle *handle, char *datestring, size_t maxlen);

void HC_Read_Lib_Build_Date(char *datestring, size_t maxlen);

int HC_CMD_Repeat(usb_dev_handle *handle, char repeat);

int HC_CMD_Interval(usb_dev_handle *handle, int interval_ms);

int HC_CMD_Stop(usb_dev_handle *handle);

int HC_Send_Picooz(usb_dev_handle *handle, char channel, char throttle, char yaw, char trim);

int HC_Send_Challenger(usb_dev_handle *handle, char channel, char throttle, char yaw, char trim, char fire);

int HC_Send_Uranus(usb_dev_handle *handle, char channel, char throttle, char yaw, char pitch, char trim, char light);

int HC_Send_Tandemz(usb_dev_handle *handle, char channel, char throttle, char yaw, char pitch, char pitch_trim, char light);

int HC_Send_Ibird(usb_dev_handle *handle, char channel, char throttle, char yaw, char unknown, char checksum);

int HC_Send_Saucer(usb_dev_handle *handle, char throttle, char yaw, char pitch, char roll);

void HC_Close(usb_dev_handle *handle);

#ifdef __cplusplus
}
#endif

#endif /* HELICONTROL_H */

---