Helper Namespace Reference

Functions
int8_t	readSettings ()
	Read default settings from the platform settings file.
int8_t	getImuOffsets (int16_t &gx, int16_t &gy, int16_t &gz, int16_t &ax, int16_t &ay, int16_t &az)
	Retrieve IMU calibration offsets (gyro/accel).
int8_t	stopDolyService ()
	Stop the background Doly service (if running).

Function Documentation

getImuOffsets()

int8_t Helper::getImuOffsets	(	int16_t &	gx,
		int16_t &	gy,
		int16_t &	gz,
		int16_t &	ax,
		int16_t &	ay,
		int16_t &	az )

Retrieve IMU calibration offsets (gyro/accel).

Reads previously stored IMU offset values. These offsets are typically passed into DriveControl::init(...) to start with calibrated parameters.

Parameters

[out]	gx	Gyro X offset.
[out]	gy	Gyro Y offset.
[out]	gz	Gyro Z offset.
[out]	ax	Accel X offset.
[out]	ay	Accel Y offset.
[out]	az	Accel Z offset.

Returns

Status code:

• 0 : success
• -1 : failed to read offsets

Examples

Helper/main.cpp, and ImuControl/main.cpp.

readSettings()

int8_t Helper::readSettings

(

)

Read default settings from the platform settings file.

This is commonly used to load calibration/config values that the SDK uses at runtime.

Returns

Status code:

• >= 0 : success
• -1 : settings file not found
• -2 : XML open or parse error

Examples

ArmControl/main.cpp, Helper/main.cpp, and ImuControl/main.cpp.

stopDolyService()

int8_t Helper::stopDolyService

(

)

Stop the background Doly service (if running).

Some applications/tests may need exclusive access to hardware resources owned by the service. This helper provides a unified method to request stopping it.

Returns

Status code:

• 0 : success
• 1 : service not active
• -1 : error while stopping service

Warning

Stopping the service may affect other running applications.

Examples

ArmControl/main.cpp, DriveControl/main.cpp, EdgeControl/main.cpp, EyeControl/main.cpp, FanControl/main.cpp, ImuControl/main.cpp, IoControl/main.cpp, LcdControl/main.cpp, LedControl/main.cpp, ServoControl/main.cpp, SoundControl/main.cpp, TofControl/main.cpp, TouchControl/main.cpp, and TtsControl/main.cpp.