SDK API Reference Manual

Copyright © 2007, Dr Robot Inc. All Rights Reserved. www.DrRobot.com
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V. WiRobot DRK6000/8000 Specific APIs
V.1. Low Level Protection
When bumpers (optional) are installed on
WiRobot RDK6000/8000 with the connection
configuration shown on the right, a build-in low-
level bumper collision protection scheme can be
enabled or disabled with the next two
commands. When this bumper protection
feature is enabled:
• The wheels will stop moving forward
when either bumper 0 or 1 is engaged,
there will be not affect if the wheels are
moving backward.
• The wheels will stop moving backward
when either bumper 2 or 3 is engaged,,
there will be not affect if the wheels are
moving forward.
• The bumpers are connected to custom digital I/O 0, 1, 2, and 3.
126 void EnableBumperProtection();
Description: This will enable the low level bumper protection feature.
EnableBumperProtection xxxx.
Syntax: EnableBumperProtection ();
Parameter: void;
Return value: void
Remarks:
By default, the bumper protection feature is disabled when system is booted up.
127 void DisableBumperProtection();
Description: This will disable the low level bumper protection feature.
DisableBumperProtection xxxx.
Syntax: DisableBumperProtection ();
Parameter: void;
Return value: void
D_IN0 D_IN1
D_IN2 D_IN3
Front
Left
Wheel
Bumper_0 Bumper_1
Bumper_2 Bumper_3
Right
Wheel