InfernalRobotics API

Provides RPCs to interact with Infernal Robotics Next. Provides the following classes:

• InfernalRobotics
• ServoGroup
• Servo

Example

The following example gets the control group named “MyGroup”, prints out the names and positions of all of the servos in the group, then moves all of the servos to the right for 1 second.

#include <unistd.h>
#include <krpc_cnano.h>
#include <krpc_cnano/services/space_center.h>
#include <krpc_cnano/services/infernal_robotics.h>

int main() {
  krpc_connection_t conn;
  krpc_open(&conn, "COM0");
  krpc_connect(conn, "InfernalRobotics Example");
  krpc_SpaceCenter_Vessel_t vessel;
  krpc_SpaceCenter_ActiveVessel(conn, &vessel);

  krpc_InfernalRobotics_ServoGroup_t group;
  krpc_InfernalRobotics_ServoGroupWithName(conn, &group, vessel, "MyGroup");
  if (!group)
    printf("Group not found\n");

  krpc_list_object_t servos = KRPC_NULL_LIST;
  krpc_InfernalRobotics_ServoGroup_Servos(conn, &servos, group);
  for (size_t i = 0; i < servos.size; i++) {
    krpc_InfernalRobotics_Servo_t servo = servos.items[i];
    char * name = NULL;
    krpc_InfernalRobotics_Servo_Name(conn, &name, servo);
    float position;
    krpc_InfernalRobotics_Servo_Position(conn, &position, servo);
    printf("%s %.2f\n", name, position);
  }

  krpc_InfernalRobotics_ServoGroup_MoveRight(conn, group);
  sleep(1);
  krpc_InfernalRobotics_ServoGroup_Stop(conn, group);
}