10 #include <argos3/core/wrappers/lua/lua_utility.h>
25 int LuaTurretSetRotation(lua_State* pt_lua_state) {
27 if(lua_gettop(pt_lua_state) != 1) {
28 return luaL_error(pt_lua_state,
"robot.turret.set_rotation() expects 1 argument");
30 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
32 CLuaUtility::GetDeviceInstance<CCI_FootBotTurretActuator>(pt_lua_state,
"turret")->
33 SetRotation(CRadians(lua_tonumber(pt_lua_state, 1)));
39 int LuaTurretSetRotationSpeed(lua_State* pt_lua_state) {
41 if(lua_gettop(pt_lua_state) != 1) {
42 return luaL_error(pt_lua_state,
"robot.turret.set_rotation_speed() expects 1 argument");
44 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
46 CLuaUtility::GetDeviceInstance<CCI_FootBotTurretActuator>(pt_lua_state,
"turret")->
47 SetRotationSpeed(lua_tonumber(pt_lua_state, 1));
53 int LuaTurretSetSpeedControlMode(lua_State* pt_lua_state) {
55 if(lua_gettop(pt_lua_state) != 0) {
56 return luaL_error(pt_lua_state,
"robot.turret.set_speed_control_mode() expects no arguments");
59 CLuaUtility::GetDeviceInstance<CCI_FootBotTurretActuator>(pt_lua_state,
"turret")->
60 SetSpeedControlMode();
66 int LuaTurretSetPositionControlMode(lua_State* pt_lua_state) {
68 if(lua_gettop(pt_lua_state) != 0) {
69 return luaL_error(pt_lua_state,
"robot.turret.set_position_control_mode() expects no arguments");
72 CLuaUtility::GetDeviceInstance<CCI_FootBotTurretActuator>(pt_lua_state,
"turret")->
73 SetPositionControlMode();
79 int LuaTurretSetPassiveMode(lua_State* pt_lua_state) {
81 if(lua_gettop(pt_lua_state) != 0) {
82 return luaL_error(pt_lua_state,
"robot.turret.set_passive_mode() expects no arguments");
85 CLuaUtility::GetDeviceInstance<CCI_FootBotTurretActuator>(pt_lua_state,
"turret")->
123 #ifdef ARGOS_WITH_LUA