48 lines
1.5 KiB
C
48 lines
1.5 KiB
C
/*
|
|
* Copyright 1996-2024 Cyberbotics Ltd.
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* https://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
/**********************************************************************************/
|
|
/* Description: Webots C programming interface for the Motor node */
|
|
/**********************************************************************************/
|
|
|
|
#ifndef WB_POSITION_SENSOR_H
|
|
#define WB_POSITION_SENSOR_H
|
|
|
|
#define WB_USING_C_API
|
|
#include "types.h"
|
|
|
|
#ifndef WB_MATLAB_LOADLIBRARY
|
|
#include <math.h>
|
|
#endif
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
void wb_position_sensor_enable(WbDeviceTag tag, int sampling_period); // milliseconds
|
|
void wb_position_sensor_disable(WbDeviceTag tag);
|
|
int wb_position_sensor_get_sampling_period(WbDeviceTag tag);
|
|
double wb_position_sensor_get_value(WbDeviceTag tag); // rad or meters
|
|
WbJointType wb_position_sensor_get_type(WbDeviceTag tag);
|
|
WbDeviceTag wb_position_sensor_get_motor(WbDeviceTag tag);
|
|
WbDeviceTag wb_position_sensor_get_brake(WbDeviceTag tag);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* WB_POSITION_SENSOR_H */
|