MyroC.h File Reference

Header for a C-based, my-robot package for the Scribbler 2. More...

Go to the source code of this file.

Data Structures
struct	Pixel
	Struct for a pixel. More...
struct	Picture
	Struct for a picture object. More...

Functions
int	rConnect (const char *address)
	connects program to Scribbler
void	rDisconnect ()
	disconnect program from Scribbler
void	rSetConnection (int socket_num)
	set current connection to the socket number
void	rBeep (double duration, int frequency)
	Beeps with the given duration and frequency.
void	rBeep2 (double duration, int freq1, int freq2)
	Generates two notes for the prescribed duration.
void	rSetName (const char *name)
	Change name stored in the robot to the 16-byte name given.
const char *	rGetName ()
	Get the name of the robot.
void	rSetForwardness (char *direction)
	specifies which end of the Scribbler is considered the front
void	rSetForwardnessTxt (char *direction)
	alternative to rSetForwardness for compatibility with earlier MyroC
char *	rGetForwardness ()
	Gets the forwardness of the Scribbler.
void	rSetLEDFront (int led)
	Set the front [fluke] LED on or off.
void	rSetLEDBack (double led)
	Set the the intensity of the back fluke LED,.
double	rGetBattery ()
	Get the percentage of volts left in the batteries of the scribbler.
int	rGetStall (int sampleSize)
	Determine if robot has stalled Since readings of each brightness sensor can vary substantially, each sensor can be queried sampleSize times and an average obtained.
void	rGetLightsAll (int lightSensors[3], int sampleSize)
	Get the average values of each of the three light sensors in an array. Values of each light sensor can somewhat (typically under 5%-10%). To even out variability, the sensor can be queried sampleSize times and an average obtained.
int	rGetLightTxt (const char *sensorName, int sampleSize)
	Get the average values of a specified light sensor. Values of each light sensor can somewhat (typically under 5%-10%). To even out variability, the sensor can be queried sampleSize times and an average obtained.
void	rGetIRAll (int irSensors[2], int sampleSize)
	Get an array of true/false values regarding the presence of obstacle based on the average values of each of the three IR sensors. Since readings of each light sensor can vary substantially, each sensor can be queried sampleSize times and an average obtained.
int	rGetIRTxt (const char *sensorName, int sampleSize)
	Use specified IR sensor to determine if obstacle is present. Since values of each light sensor can vary substantially, the sensor can be queried sampleSize times and an average obtained.
void	rGetLine (int lineSensors[2], int sampleSize)
	Use Scribbler 2 line sensors of Scribbler to check for a black line on a white surface under the robot. Since values of each light sensor can vary substantially, the sensor can be queried sampleSize times and an average obtained.
void	rSetIRPower (int power)
	Set the amount of power for the dongle's IR sensors.
void	rGetObstacleAll (int obstSensors[3], int sampleSize)
	Get the average values of the three obstacle sensors in an array. Since readings of each obstacle sensor can vary substantially (successive readings may differ by several hundred or more), each sensor can be queried sampleSize times and an average obtained.
int	rGetObstacleTxt (const char *sensorName, int sampleSize)
	Get the average values of a specified obstacle (IR) sensor. Since values of each obstacle sensor can vary substantially (successive readings may differ by several hundred or more), the sensor can be queried sampleSize times and an average obtained.
void	rGetBrightAll (int brightSensors[3], int sampleSize)
	Read the Fluke's virtual light sensors. Since readings of each brightness sensor can vary substantially (successive readings may differ by 5000-10000), each sensor can be queried sampleSize times and an average obtained.
int	rGetBrightTxt (char *sensorName, int sampleSize)
	Reads one of the Fluke's virtual light sensors. Since values of each obstacle sensor can vary substantially (successive readings may differ by 5000-10000), the sensor can be queried sampleSize times and an average obtained.
void	rGetInfo (char *infoBuffer)
	returns information about the robot's dongle, firmware, and communication mode as a 60 character array in infoBuffer.
void	rTurnLeft (double speed, double time)
	turn Scribbler left for a specified time and speed
void	rTurnRight (double speed, double time)
	turn Scribbler right for a specified time and speed
void	rTurnSpeed (char *direction, double speed, double time)
	turn Scribbler in direction for a specified time and speed
void	rForward (double speed, double time)
	moves Scribbler forward for a specified time and speed
void	rFastForward (double time)
	moves Scribbler forward at the largest possible speed for a specified time
void	rBackward (double speed, double time)
	moves Scribbler backward for a specified time and speed
void	rMotors (double leftSpeed, double rightSpeed)
	move robot with given speeds for the left and right motors continues until given another motion command or disconnected (non-blocking)
void	rStop ()
	directs robot to stop movement
void	rHardStop ()
	cuts power to the motor of the robot
Picture	rTakePicture ()
	Use the camera to take a photo.
void	rSavePicture (Picture pic, char *filename)
	Save a Picture to a .jpeg.
Picture	rLoadPicture (char *filename)
	Load a picture from a .jpeg file.
void	rDisplayPicture (Picture pic, double duration, const char *windowTitle)
	Display a picture in a new window.

Detailed Description

Header for a C-based, my-robot package for the Scribbler 2.

Authors

Spencer Liberto

Dilan Ustek

Jordan Yuan

Henry M. Walker

Anita DeWitt

Jason Liu

Nick Knoebber

Vasilisa Bashlovkina

Based on a C++ package by April O'Neill, David Cowden, Dilan Ustek, Erik Opavsky, and Henry M. Walker

Note

There is an r in the beginning of every function to make it easier to understand whether it is a robot function.

Function Documentation

void rBackward	(	double	speed,
		double	time
	)

moves Scribbler backward for a specified time and speed

Parameters

speed	the rate at which the robot should move backward linear range: -1.0 specifies move forward at full speed 0.0 specifies no forward/backward movement 1.0 specifies move backward at full speed
time	specifies the duration of the turn if negative: robot continues to go backward until given another motion command or disconnected (non-blocking) if nonnegative: robot moves backward for the given duration, in seconds

moves Scribbler backward for a specified time and speed

Parameters

speed	the rate at which the robot should move backward linear range: -1.0 specifies move forward at full speed 0.0 specifies no forward/backward movement 1.0 specifies move backward at full speed
time	specifies the duration of the turn if negative: robot continues to go backward until given another motion command or disconnected (non-blocking) if nonnegative: robot moves backward for the given duration, in seconds

void rBeep	(	double	duration,
		int	frequency
	)

Beeps with the given duration and frequency.

Parameters

duration	length of note in seconds
frequency	frequency of pitch in cycles per second (hertz)

Precondition

duration > 0.0

Beeps with the given duration and frequency

Parameters

duration	length of note in seconds
frequency	frequency of pitch in cycles per second (hertz)

Precondition

duration > 0.0

void rBeep2	(	double	duration,
		int	freq1,
		int	freq2
	)

Generates two notes for the prescribed duration.

Parameters

duration	length of note in seconds
freq1	frequency of first pitch in cycles per second (hertz)
freq2	frequency of second pitch in cycles per second (hertz)

Precondition

duration > 0.0

Generates two notes for the prescribed duration

Parameters

duration	length of note in seconds
freq1	frequency of first pitch in cycles per second (hertz)
freq2	frequency of second pitch in cycles per second (hertz)

Precondition

duration > 0.0

int rConnect

(

const char *

address

)

connects program to Scribbler

Parameters

address

string, giving name of workstation port or a Scribbler Bluetooth designation

several string formats are possible a communications port, such as "/dev/rfcomm0" a MAC address, such as "00:1E:19:01:0E:13" a Scribbler 2 fluke serial number, such as "245787" a full IPRE serial number, such as "IPRE245787" a Fluke 2 serial number (hexadecimal), such as "021F" a full Fluke 2 serial number, such as "Fluke2-021F"

Returns

the socket number of communications port

Postcondition

subsequent communications will take place through this socket, unless changed by rSetConnection

connects program to Scribbler

Parameters

address

string, giving name of workstation port or a Scribbler Bluetooth designation

several string formats are possible a communications port, such as "/dev/rfcomm0" a MAC address, such as "00:1E:19:01:0E:13" a Scribbler 2 fluke serial number, such as "245787" a full IPRE serial number, such as "IPRE245787" a Fluke 2 serial number (hexadecimal), such as "021F" a full Fluke 2 serial number, such as "Fluke2-021F"

Returns

the socket number of communications port

Postcondition

subsequent communications will take place through this socket, unless changed by rSetConnection

void rDisplayPicture	(	Picture	pic,
		double	duration,
		const char *	windowTitle
	)

Display a picture in a new window.

Parameters

pic	RGB picture struct from Scribbler 2 camera
duration	if duration > 0, operation is blocking if duration <= 0, operation is non-blocking for duration != 0, picture displayed for abs(duration) seconds or until picture closed manually if duration == 0, picture displayed until closed manually
windowTitle	The title of the window that appears. white spaces will be replaced with underscores.

Precondition

windowTitle is less than 100 characters.

Display a picture in a new window

Parameters

pic	RGB picture struct from Scribbler 2 camera
duration	if duration > 0, operation is blocking if duration <= 0, operation is non-blocking for duration != 0, picture displayed for abs(duration) seconds or until picture closed manually if duration == 0, picture displayed until closed manually
windowTitle	The title of the window that appears. white spaces will be replaced with underscores.

Precondition

windowTitle is less than 100 characters.

void rFastForward

(

double

time

)

moves Scribbler forward at the largest possible speed for a specified time

Parameters

time	specifies the duration of movement if negative: robot continues to move forward until given another motion command or disconnected (non-blocking) if nonnegative: robot moves forward for the given duration, in seconds

Warning

may take longer than usual to execute

moves Scribbler forward at the largest possible speed for a specified time

Parameters

time	specifies the duration of movement if negative: robot continues to move forward until given another motion command or disconnected (non-blocking) if nonnegative: robot moves forward for the given duration, in seconds may take longer than usual to execute

void rForward	(	double	speed,
		double	time
	)

moves Scribbler forward for a specified time and speed

Parameters

speed	the rate at which the robot should move forward linear range: -1.0 specifies move backward at full speed 0.0 specifies no forward/backward movement 1.0 specifies move forward at full speed
time	specifies the duration of movement if negative: robot continues to move forward until given another motion command or disconnected (non-blocking) if nonnegative: robot moves forward for the given duration, in seconds

moves Scribbler forward for a specified time and speed

Parameters

speed	the rate at which the robot should move forward linear range: -1.0 specifies move backward at full speed 0.0 specifies no forward/backward movement 1.0 specifies move forward at full speed
time	specifies the duration of movement if negative: robot continues to move forward until given another motion command or disconnected (non-blocking) if nonnegative: robot moves forward for the given duration, in seconds

double rGetBattery

(

)

Get the percentage of volts left in the batteries of the scribbler.

Returns

percentage of battery voltage

Get the percentage of volts left in the batteries of the scribbler

Warning

may not return useful values

Returns

percentage of battery voltage

void rGetBrightAll	(	int	brightSensors[3],
		int	sampleSize
	)

Read the Fluke's virtual light sensors. Since readings of each brightness sensor can vary substantially (successive readings may differ by 5000-10000), each sensor can be queried sampleSize times and an average obtained.

Parameters

brightSensors	array to store intensity values
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for brightSensors array sampleSize > 0

Postcondition

brightSensors[0] gives average value for left sensor brightSensors[1] gives average value for middle sensor brightSensors[2] gives average value for right sensor Brightness values near 0 represent bright light Brightness values may extend to about 65535 for a very dark region.

Read the Fluke's virtual light sensors. Since readings of each brightness sensor can vary substantially (successive readings may differ by 5000-10000), each sensor can be queried sampleSize times and an average obtained.

Parameters

brightSensors	array to store intensity values
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for brightSensors array sampleSize > 0

Postcondition

brightSensors[0] gives average value for left sensor brightSensors[1] gives average value for middle sensor brightSensors[2] gives average value for right sensor Brightness values near 0 represent bright light Brightness values may extend to about 65535 for a very dark region.

int rGetBrightTxt	(	char *	sensorName,
		int	sampleSize
	)

Reads one of the Fluke's virtual light sensors. Since values of each obstacle sensor can vary substantially (successive readings may differ by 5000-10000), the sensor can be queried sampleSize times and an average obtained.

Parameters

sensorName

name of the obstacle sensor

Precondition

sensorName is "left", "center", "middle", or "right" (not case sensitive) designations "center" and "middle" are alternatives for the same light sensor

Parameters

sampleSize

how many readings are taken for the sensor

Precondition

sampleSize > 0

Returns

reading from the specified obstacle sensor, averaged over sampleSize number of data samples Brightness values near 0 represent bright light Brightness values may extend to about 65535 for a very dark region.

Reads one of the Fluke's virtual light sensors. Since values of each obstacle sensor can vary substantially (successive readings may differ by 5000-10000), the sensor can be queried sampleSize times and an average obtained.

Parameters

sensorName

name of the obstacle sensor

Precondition

sensorName is "left", "center", "middle", or "right" (not case sensitive) designations "center" and "middle" are alternatives for the same light sensor

Parameters

sampleSize

how many readings are taken for the sensor

Precondition

sampleSize > 0

Returns

reading from the specified obstacle sensor, averaged over sampleSize number of data samples Brightness values near 0 represent bright light Brightness values may extend to about 65535 for a very dark region.

char* rGetForwardness

(

)

Gets the forwardness of the Scribbler.

Returns

either "fluke-forward" or "scribbler-forward"

Gets the forwardness of the Scribbler

Returns

either "fluke-forward" or "scribbler-forward"

void rGetInfo

(

char *

infoBuffer

)

returns information about the robot's dongle, firmware, and communication mode as a 60 character array in infoBuffer.

Parameters

infoBuffer

a pre-defined, 60-character array

Postcondition

infoBuffer contains relevant robot information

returns information about the robot's dongle, firmware, and communication mode as a 60 character array in infoBuffer.

Parameters

infoBuffer

a pre-defined, 60-character array

Postcondition

infoBuffer contains relevant robot information

void rGetIRAll	(	int	irSensors[2],
		int	sampleSize
	)

Get an array of true/false values regarding the presence of obstacle based on the average values of each of the three IR sensors. Since readings of each light sensor can vary substantially, each sensor can be queried sampleSize times and an average obtained.

Parameters

irSensors	array to store intensity values
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for irSensors array sampleSize > 0

Postcondition

irSensors[0] checks obstacle for left sensor irSensors[1] checks obstacle for right sensor

for each irSensors array value return 0 indicates no obstacle detected return 1 indicates obstacle detected

Get an array of true/false values regarding the presence of an obstacle, based on the average values of each of the three IR sensors. Since readings of each light sensor can vary substantially, each sensor can be queried sampleSize times and an average obtained.

Parameters

irSensors	array to store intensity values
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for irSensors array sampleSize > 0

Postcondition

irSensors[0] checks obstacle for left sensor irSensors[1] checks obstacle for right sensor

for each irSensors array value return 0 indicates no obstacle detected return 1 indicates obstacle detected

int rGetIRTxt	(	const char *	sensorName,
		int	sampleSize
	)

Use specified IR sensor to determine if obstacle is present. Since values of each light sensor can vary substantially, the sensor can be queried sampleSize times and an average obtained.

Parameters

sensorName

name of the light sensor

Precondition

sensorName is "left" or "right" (not case sensitive)

Parameters

sampleSize

how many readings are taken for the sensor

Precondition

sampleSize > 0

Returns

true/false (0/1) determination of obstacle, based on IR sensorName sensor, averaged over sampleSize number of data samples

Postcondition

return 0 indicates no obstacle detected return 1 indicates obstacle detected

Use specified IR sensor to determine if obstacle is present. Since values of each light sensor can vary substantially, the sensor can be queried sampleSize times and an average obtained.

Parameters

sensorName

name of the light sensor

Precondition

sensorName is "left" or "right" (not case sensitive)

Parameters

sampleSize

how many readings are taken for the sensor

Precondition

sampleSize > 0

Returns

true/false (0/1) determination of obstacle, based on IR sensorName sensor, averaged over sampleSize number of data samples

Postcondition

return 0 indicates no obstacle detected return 1 indicates obstacle detected

void rGetLightsAll	(	int	lightSensors[3],
		int	sampleSize
	)

Get the average values of each of the three light sensors in an array. Values of each light sensor can somewhat (typically under 5%-10%). To even out variability, the sensor can be queried sampleSize times and an average obtained.

Parameters

lightSensors	array to store intensity values
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for lightSensors array sampleSize > 0

Postcondition

lightSensors[0] gives average value for left sensor lightSensors[1] gives average value for middle sensor lightSensors[2] gives average value for right sensor Intensity values near 0 represent bright light Intensities may extend to about 65000 for a very dark region.

Get the average values of each of the three light sensors in an array. Values of each light sensor can somewhat (typically under 5%-10%). To even out variability, the sensor can be queried sampleSize times and an average obtained.

Parameters

obstSensors	array to store intensity values
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for lightSensors array sampleSize > 0

Postcondition

lightSensors[0] gives average value for left sensor lightSensors[1] gives average value for middle sensor lightSensors[2] gives average value for right sensor Intensity values near 0 represent bright light Intensities may extend to about 65000 for a very dark region.

int rGetLightTxt	(	const char *	sensorName,
		int	sampleSize
	)

Get the average values of a specified light sensor. Values of each light sensor can somewhat (typically under 5%-10%). To even out variability, the sensor can be queried sampleSize times and an average obtained.

Parameters

sensorName

name of the light sensor

Precondition

sensorName is "left", "center", "middle", or "right" (not case sensitive) designations "center" and "middle" are alternatives for the same light sensor

Parameters

sampleSize

how many readings are taken for the sensor

Precondition

sampleSize > 0

Returns

reading from the specified light sensor, averaged over sampleSize number of data samples if sensorName invalid, returns -1.0

Get the average values of a specified light sensor. Values of each light sensor can vary somewhat (typically under 5%-10%). To even out variability, the sensor can be queried sampleSize times and an average obtained.

Parameters

sensorName

name of the light sensor

Precondition

sensorName is "left", "center", "middle", or "right" (not case sensitive) designations "center" and "middle" are alternatives for the same light sensor

Parameters

sampleSize

how many readings are taken for the sensor

Precondition

sampleSize > 0

Returns

reading from the specified light sensor, averaged over sampleSize number of data samples if sensorName invalid, returns -1.0

void rGetLine	(	int	lineSensors[2],
		int	sampleSize
	)

Use Scribbler 2 line sensors of Scribbler to check for a black line on a white surface under the robot. Since values of each light sensor can vary substantially, the sensor can be queried sampleSize times and an average obtained.

Warning

results of these sensors may be flakey!

Parameters

lineSensors	array to store line values detected
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for lineSensors array sampleSize > 0

Postcondition

lineSensors[0] checks left sensor for line lineSensors[1] checks right sensor for line

for each irSensors array value return 0 indicates line is identified return 1 indicates line is not identified

Use Scribbler 2 line sensors of Scribbler to check for a black line on a white surface under the robot. Since values of each light sensor can vary substantially, the sensor can be queried sampleSize times and an average obtained. results of these sensors may be flakey!

Parameters

lineSensors	array to store line values detected
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for lineSensors array sampleSize > 0

Postcondition

lineSensors[0] checks left sensor for line lineSensors[1] checks right sensor for line

for each irSensors array value return 0 indicates line is identified return 1 indicates line is not identified

const char* rGetName

(

)

Get the name of the robot.

Returns

information about the name of the robot

Postcondition

the returned name is a newly-allocated 17-byte string

void rGetObstacleAll	(	int	obstSensors[3],
		int	sampleSize
	)

Get the average values of the three obstacle sensors in an array. Since readings of each obstacle sensor can vary substantially (successive readings may differ by several hundred or more), each sensor can be queried sampleSize times and an average obtained.

Parameters

obstSensors	array to store intensity values
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for obstSensors array sampleSize > 0

Postcondition

obstSensors[0] gives average value for left sensor obstSensors[1] gives average value for middle sensor obstSensors[2] gives average value for right sensor Obstacle values near 0 represent no obstacle is seen Obstacle values may approach 6000 as obstacle gets close.

Warning

As battery degrades, sensor readings degrade, yielding systematically lower numbers.

Get the average values of the three obstacle sensors in an array. Since readings of each obstacle sensor can vary substantially (successive readings may differ by several hundred or more), each sensor can be queried sampleSize times and an average obtained.

Parameters

obstSensors	array to store intensity values
sampleSize	how many readings are taken for each sensor

Precondition

space already allocated for obstSensors array sampleSize > 0

Postcondition

obstSensors[0] gives average value for left sensor obstSensors[1] gives average value for middle sensor obstSensors[2] gives average value for right sensor Obstacle values near 0 represent no obstacle is seen Obstacle values may approach 6000 as obstacle gets close. As battery degrades, sensor readings degrade, yielding systematically lower numbers.

int rGetObstacleTxt	(	const char *	sensorName,
		int	sampleSize
	)

Get the average values of a specified obstacle (IR) sensor. Since values of each obstacle sensor can vary substantially (successive readings may differ by several hundred or more), the sensor can be queried sampleSize times and an average obtained.

Parameters

sensorName

name of the obstacle sensor

Precondition

sensorName is "left", "center", "middle", or "right" (not case sensitive) designations "center" and "middle" are alternatives for the same light sensor

Parameters

sampleSize

how many readings are taken for the sensor

Precondition

space already allocated for vals array sampleSize > 0

Returns

reading from the specified obstacle sensor, averaged over sampleSize number of data samples Obstacle values near 0 represent no obstacle is seen Obstacle values may approach 6000 as obstacle gets close.

Warning

As battery degrades, sensor values degrade, yielding systematically lower numbers.

Get the average values of a specified obstacle (IR) sensor. Since values of each obstacle sensor can vary substantially (successive readings may differ by several hundred or more), the sensor can be queried sampleSize times and an average obtained.

Parameters

sensorName

name of the obstacle sensor

Precondition

sensorName is "left", "center", "middle", or "right" (not case sensitive) designations "center" and "middle" are alternatives for the same light sensor

Parameters

sampleSize

how many readings are taken for the sensor

Precondition

space already allocated for vals array sampleSize > 0

Returns

reading from the specified obstacle sensor, averaged over sampleSize number of data samples Obstacle values near 0 represent no obstacle is seen Obstacle values may approach 6000 as obstacle gets close. As battery degrades, sensor values degrade, yielding systematically lower numbers.

int rGetStall

(

int

sampleSize

)

Determine if robot has stalled Since readings of each brightness sensor can vary substantially, each sensor can be queried sampleSize times and an average obtained.

Parameters

sampleSize

how many readings are taken for each sensor

Precondition

sampleSize > 0

Returns

whether or not robot current has stalled

Postcondition

Returns 1 if the robot has stalled Returns 0 otherwise.

Determine if robot has stalled Since readings of each brightness sensor can vary substantially, each sensor can be queried sampleSize times and an average obtained.

Parameters

sampleSize

how many readings are taken for each sensor

Precondition

sampleSize > 0

Returns

whether or not robot current has stalled

Postcondition

Returns 1 if the robot has stalled Returns 0 otherwise.

Picture rLoadPicture

(

char *

filename

)

Load a picture from a .jpeg file.

Parameters

filename

the name of the file

Precondition

file must exist

file must be a 256x192 .jpeg or .jpg

Returns

Picture

Load a picture from a .jpeg file.

Parameters

filename

the name of the file

Precondition

file must exist

file must be a 256x192 .jpeg or .jpg

Returns

Picture

void rMotors	(	double	leftSpeed,
		double	rightSpeed
	)

move robot with given speeds for the left and right motors continues until given another motion command or disconnected (non-blocking)

Parameters

leftSpeed	the rate at which the left wheel should turn linear range: -1.0 specifies move backward at full speed 0.0 specifies no forward/backward movement 1.0 specifies move forwardward at full speed
rightSpeed	the rate at which the right wheel should turn linear range: -1.0 specifies move backward at full speed 0.0 specifies no forward/backward movement 1.0 specifies move forward at full speed

move robot with given speeds for the left and right motors continues until given another motion command or disconnected (non-blocking)

Parameters

left	the rate at which the left wheel should turn linear range: -1.0 specifies move backward at full speed 0.0 specifies no forward/backward movement 1.0 specifies move forwardward at full speed
right	the rate at which the right wheel should turn linear range: -1.0 specifies move backward at full speed 0.0 specifies no forward/backward movement 1.0 specifies move forward at full speed

void rSavePicture	(	Picture	pic,
		char *	filename
	)

Save a Picture to a .jpeg.

Parameters

pic	RGB picture struct from Scribbler 2 camera
filename	the name of the file

Precondition

filename ends with .jpeg or .jpg.

Postcondition

If the file does not exist, a new file will be created.

If the file exists, the file will be overwritten.

Save a Picture to a .jpeg

Parameters

pic	RGB picture struct from Scribbler 2 camera
filename	the name of the file

Precondition

filename ends with .jpeg or .jpg.

Postcondition

If the file does not exist, a new file will be created.

If the file exists, the file will be overwritten.

void rSetConnection

(

int

new_socket_num

)

set current connection to the socket number

Parameters

socket_num

the number of an open socket for communication

Precondition

socket_num has been returned by rConnect the designated socket has not been closed

set current connection to the socket number

Parameters

socket_num

the number of an open socket for communication

Precondition

socket_num has been returned by rConnect the designated socket has not been closed

void rSetForwardness

(

char *

direction

)

specifies which end of the Scribbler is considered the front

Parameters

direction

identifies front direction

Precondition

direction is either "fluke-forward" or "scribbler-forward" (not case sensitive)

specifies which end of the Scribbler is considered the front

Parameters

direction

identifies front direction

Precondition

direction is either "fluke-forward" or "scribbler-forward" (not case sensitive)

void rSetIRPower

(

int

power

)

Set the amount of power for the dongle's IR sensors.

Parameters

power

the desired power level for the IR sensors

Precondition

power is between 0 and 255 (inclusive)

Set the amount of power for the dongle's IR sensors

Parameters

power

the desired power level for the IR sensors

Precondition

power is between 0 and 255 (inclusive)

void rSetLEDBack

(

double

led

)

Set the the intensity of the back fluke LED,.

Parameters

led	intensity of the LED values between 0 and 1 provide a range of brightness from off to full intensity values bigger than 1 are treated as 1 (full brightness) values less than 0 are treated as 0 (LED off).

Set the the intensity of the back fluke LED,

Parameters

led	intensity of the LED values between 0 and 1 provide a range of brightness from off to full intensity values bigger than 1 are treated as 1 (full brightness) values less than 0 are treated as 0 (LED off).

void rSetLEDFront

(

int

led

)

Set the front [fluke] LED on or off.

Parameters

led	value 1 turns on LED value 0 turns off LED

Precondition

led must be 0 or 1

Set the front [fluke] LED on or off

Parameters

led	value 1 turns on LED value 0 turns off LED

Precondition

led must be 0 or 1

void rSetName

(

const char *

name

)

Change name stored in the robot to the 16-byte name given.

Parameters

name	specifies new name of robot if < 16 bytes given, name is filled with null characters if >= 16 bytes given, name is truncated to 15 bytes plus null

Change name stored in the robot to the 16-byte name given

Parameters

name	specifies new name of robot if < 16 bytes given, name is filled with null characters if >= 16 bytes given, name is truncated to 15 bytes plus null

Picture rTakePicture

(

)

Use the camera to take a photo.

Returns

Picture

Use the camera to take a photo

Returns

Picture

void rTurnLeft	(	double	speed,
		double	time
	)

turn Scribbler left for a specified time and speed

Parameters

speed	the rate at which the robot should move left linear range: -1.0 specifies right turn at full speed 0.0 specifies no turn 1.0 specifies left turn at full speed
time	specifies the duration of the turn if negative: robot continues to turn until given another motion command or disconnected (non-blocking) if nonnegative: robot turns for the given duration, in seconds

turn Scribbler left for a specified time and speed

Parameters

speed	the rate at which the robot should move left linear range: -1.0 specifies right turn at full speed 0.0 specifies no turn 1.0 specifies left turn at full speed
time	specifies the duration of the turn if negative: robot continues to turn until given another motion command or disconnected (non-blocking) if nonnegative: robot turns for the given duration, in seconds

void rTurnRight	(	double	speed,
		double	time
	)

turn Scribbler right for a specified time and speed

Parameters

speed	the rate at which the robot should move right linear range: -1.0 specifies left turn at full speed 0.0 specifies no turn 1.0 specifies right turn at full speed
time	specifies the duration of the turn if negative: robot continues to turn until given another motion command or disconnected (non-blocking) if nonnegative: robot turns for the given duration, in seconds

turn Scribbler right for a specified time and speed

Parameters

speed	the rate at which the robot should move right linear range: -1.0 specifies left turn at full speed 0.0 specifies no turn 1.0 specifies right turn at full speed
time	specifies the duration of the turn if negative: robot continues to turn until given another motion command or disconnected (non-blocking) if nonnegative: robot turns for the given duration, in seconds

void rTurnSpeed	(	char *	direction,
		double	speed,
		double	time
	)

turn Scribbler in direction for a specified time and speed

Parameters

direction	direction of turn, based on looking from the center of the robot and facing forward
speed	the rate at which the robot should move forward linear range: -1.0 specifies turn at full speed 0.0 specifies no turn 1.0 specifies turn at full speed
time	specifies the duration of the turn if negative: robot continues to turn until given another motion command or disconnected if nonnegative: robot turns for the given duration, in seconds

Precondition

direction is "left" or "right", case insensitive

turn Scribbler in direction for a specified time and speed

Parameters

direction	direction of turn, based on looking from the center of the robot and facing forward
speed	the rate at which the robot should move forward linear range: -1.0 specifies turn at full speed 0.0 specifies no turn 1.0 specifies turn at full speed
time	specifies the duration of the turn if negative: robot continues to turn until given another motion command or disconnected if nonnegative: robot turns for the given duration, in seconds

Precondition

direction is "left" or "right", case insensitive