21 lines
762 B
C++
21 lines
762 B
C++
 
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#pragma once
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#include <stdint.h>
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// Read-only access to robot.ino's globals, implemented in robot_ino.cpp
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// (the translation unit that compiles robot.ino).
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namespace simrobot {
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void setupOnce();
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void loopOnce();
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int state(); // RobotState: 0 DISARMED, 1 SIT, 2 STAND, 3 WALKING
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float sitStandBlend();
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bool linkOk();
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float headingDeg();
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float imuRollDeg();
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float imuPitchDeg();
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bool imuEnabled();
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uint32_t lastLoopMicros();
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bool legInStance(int leg); // gait phase; only meaningful while WALKING
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float poseReachScale(); // BodyPose::reachScale(): 1 = full commanded pose
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float twistScale(); // GaitEngine::twistScale(): 1 = walk command as sent
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float stanceHeightMm(); // Kinematics::stanceHeight()
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} // namespace simrobot
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