User manual

III. WiRobot SDK API Reference for PMS5005

WiRobot SDK APIs for PMS5005 are grouped under the categories of Sensor Peripherals, Motion

Control, Multimedia Control and Events

III.1 Sensor Peripherals

This section contains the APIs for the operations of different sensor peripherals.

III.1.1 Batch Sensor Data Updating API

Standard Sensors: Sonar, human, infrared range, tilt/acceleration, temperature, battery voltage and

infrared remote control receiver

Motor Sensors: Potentiometers, current feedback sensors and encoders.

Custom Sensors: Custom expansion A/D inputs and digital inputs.

1 void SystemMotorSensorRequest(int PacketNumber);

2 void SystemStandardSensorRequest(int PacketNumber);

3 void SystemCustomSensorRequest(int PacketNumber);

4 void SystemAllSensorRequest(int PacketNumber);

Description:

SystemMotorSensorRequest sends a request command to the WiRobot Sensing and

Motion Controller (PMS5005) in order to get the sensor data related to motor control.

SystemStandardSensorRequest sends a request command to the WiRobot Sensing and

Motion Controller (PMS5005) in order to get all the WiRobot standard sensor data.

SystemCustomSensorRequest sends a request command to the WiRobot Sensing and

Motion Controller (PMS5005) in order to get all custom-sensor data,

SystemAllSensorRequest sends a request command to the WiRobot Sensing and Motion

Controller (PMS5005) in order to get all the sensor data.

Syntax: SystemMotorSensorRequest (PacketNumber); // motor related sensors

SystemStandardSensorRequest (PacketNumber); // standard sensors

SystemCustomSensorRequest (PacketNumber); // custom sensors

SystemAllSensorRequest (PacketNumber); // all the sensors

Parameter: short PacketNumber;

The meanings of PacketNumber as follows:

Table III.1 Meanings of PacketNumber

Parameter Action Requested

PacketNumber = 0 Stop sending the sensor data packets

PacketNumber = -1

Send sensor data packet continuously until being asked to

stop

PacketNumber > 0

Send n = PacketNumber packet(s) of sensor data and then