LoOpenInterface.h File Reference

Definitions for some of the Open Interface stuff used by the lobot low-level controller. More...

This graph shows which files directly or indirectly include this file:

Enumerations
enum	{ LOBOT_OI_CMD_START = 128, LOBOT_OI_CMD_BAUD = 129, LOBOT_OI_CMD_PASSIVE = LOBOT_OI_CMD_START, LOBOT_OI_CMD_SAFE = 131, LOBOT_OI_CMD_FULL = 132, LOBOT_OI_CMD_DEMO = 136, LOBOT_OI_CMD_DEMO_SPOT = 134, LOBOT_OI_CMD_DEMO_COVER = 135, LOBOT_OI_CMD_DEMO_COVER_AND_DOCK = 143, LOBOT_OI_CMD_DRIVE = 137, LOBOT_OI_CMD_DRIVE_DIRECT = 145, LOBOT_OI_CMD_LEDS = 139, LOBOT_OI_CMD_DEFINE_SONG = 140, LOBOT_OI_CMD_PLAY_SONG = 141, LOBOT_OI_CMD_SENSORS = 142, LOBOT_OI_CMD_QUERY_LIST = 149 }
enum	{ LOBOT_OI_BAUD_300, LOBOT_OI_BAUD_600, LOBOT_OI_BAUD_1200, LOBOT_OI_BAUD_2400, LOBOT_OI_BAUD_4800, LOBOT_OI_BAUD_9600, LOBOT_OI_BAUD_14400, LOBOT_OI_BAUD_19200, LOBOT_OI_BAUD_28800, LOBOT_OI_BAUD_38400, LOBOT_OI_BAUD_57600, LOBOT_OI_BAUD_115200 }
enum	{ LOBOT_OI_UBRR_300 = 3839, LOBOT_OI_UBRR_600 = 1919, LOBOT_OI_UBRR_1200 = 959, LOBOT_OI_UBRR_2400 = 479, LOBOT_OI_UBRR_4800 = 239, LOBOT_OI_UBRR_9600 = 119, LOBOT_OI_UBRR_14400 = 79, LOBOT_OI_UBRR_19200 = 59, LOBOT_OI_UBRR_28800 = 39, LOBOT_OI_UBRR_38400 = 29, LOBOT_OI_UBRR_57600 = 19, LOBOT_OI_UBRR_115200 = 9 }
enum	{ LOBOT_OI_DEMO_ABORT = 255, LOBOT_OI_DEMO_COVER = 0, LOBOT_OI_DEMO_COVER_AND_DOCK, LOBOT_OI_DEMO_SPOT, LOBOT_OI_DEMO_MOUSE, LOBOT_OI_DEMO_FIGURE_EIGHT, LOBOT_OI_DEMO_WIMP, LOBOT_OI_DEMO_HOME, LOBOT_OI_DEMO_TAG, LOBOT_OI_DEMO_PACHELBEL, LOBOT_OI_DEMO_BANJO }
enum	{ LOBOT_OI_DRIVE_STRAIGHT = 0x8000, LOBOT_OI_DRIVE_STRAIGHT2 = 0x7FFF, LOBOT_OI_TURN_INPLACE_CW = 0xFFFF, LOBOT_OI_TURN_INPLACE_CCW = 0x0001 }
	Turn radius special cases. More...
enum	{ LOBOT_OI_LED_ADVANCE = 0x08, LOBOT_OI_LED_PLAY = 0x02, LOBOT_OI_LED_BOTH = 0x0A }
	LED bit masks. More...
enum	{ LOBOT_OI_SENSOR_GROUP_0, LOBOT_OI_SENSOR_GROUP_1, LOBOT_OI_SENSOR_GROUP_2, LOBOT_OI_SENSOR_GROUP_3, LOBOT_OI_SENSOR_GROUP_4, LOBOT_OI_SENSOR_GROUP_5, LOBOT_OI_SENSOR_GROUP_6, LOBOT_OI_SENSOR_BUMP_DROP, LOBOT_OI_SENSOR_WALL, LOBOT_OI_SENSOR_CLIFF_LEFT, LOBOT_OI_SENSOR_CLIFF_FRONT_LEFT, LOBOT_OI_SENSOR_CLIFF_FRONT_RIGHT, LOBOT_OI_SENSOR_CLIFF_RIGHT, LOBOT_OI_SENSOR_VIRTUAL_WALL, LOBOT_OI_SENSOR_INFRARED_BYTE = 17, LOBOT_OI_SENSOR_BUTTONS, LOBOT_OI_SENSOR_DISTANCE, LOBOT_OI_SENSOR_ANGLE, LOBOT_OI_SENSOR_CHARGING_STATE, LOBOT_OI_SENSOR_VOLTAGE, LOBOT_OI_SENSOR_CURRENT, LOBOT_OI_SENSOR_BATTERY_TEMP, LOBOT_OI_SENSOR_BATTERY_CHARGE, LOBOT_OI_SENSOR_BATTERY_CAPACITY, LOBOT_OI_SENSOR_WALL_SIGNAL, LOBOT_OI_SENSOR_CLIFF_LEFT_SIGNAL, LOBOT_OI_SENSOR_CLIFF_FRONT_LEFT_SIGNAL, LOBOT_OI_SENSOR_CLIFF_FRONT_RIGHT_SIGNAL, LOBOT_OI_SENSOR_CLIFF_RIGHT_SIGNAL, LOBOT_OI_SENSOR_CHARGING_SOURCES = 34, LOBOT_OI_SENSOR_MODE, LOBOT_OI_SENSOR_SONG_NUMBER, LOBOT_OI_SENSOR_SONG_PLAYING, LOBOT_OI_SENSOR_REQUESTED_SPEED, LOBOT_OI_SENSOR_REQUESTED_RADIUS, LOBOT_OI_SENSOR_REQUESTED_SPEED_RIGHT, LOBOT_OI_SENSOR_REQUESTED_SPEED_LEFT }
	Enumerations for the different sensor packet IDs. More...
enum	{ LOBOT_OI_BUMP_LEFT = 0x02, LOBOT_OI_BUMP_RIGHT = 0x01, LOBOT_OI_BUMP_BOTH = 0x03, LOBOT_OI_BUMP_EITHER = 0x03, LOBOT_OI_WHEEL_DROP_CASTER = 0x10, LOBOT_OI_WHEEL_DROP_LEFT = 0x08, LOBOT_OI_WHEEL_DROP_RIGHT = 0x04, LOBOT_OI_WHEEL_DROP_ALL = 0x1C, LOBOT_OI_WHEEL_DROP_ANY = 0x1C, LOBOT_OI_BUTTON_ADVANCE = 0x04, LOBOT_OI_BUTTON_PLAY = 0x01 }
	Sensor bit masks. More...
enum	{ LOBOT_OI_REMOTE_LEFT = 129, LOBOT_OI_REMOTE_FORWARD, LOBOT_OI_REMOTE_RIGHT, LOBOT_OI_REMOTE_SPOT, LOBOT_OI_REMOTE_MAX, LOBOT_OI_REMOTE_SMALL, LOBOT_OI_REMOTE_MEDIUM, LOBOT_OI_REMOTE_LARGE, LOBOT_OI_REMOTE_CLEAN = LOBOT_OI_REMOTE_LARGE, LOBOT_OI_REMOTE_PAUSE, LOBOT_OI_REMOTE_POWER, LOBOT_OI_REMOTE_ARC_FORWARD_LEFT, LOBOT_OI_REMOTE_ARC_FORWARD_RIGHT, LOBOT_OI_REMOTE_DRIVE_STOP, LOBOT_OI_HOME_BASE_FORCE_FIELD = 242, LOBOT_OI_HOME_BASE_GREEN_BUOY = 244, LOBOT_OI_HOME_BASE_GBFF = 246, LOBOT_OI_HOME_BASE_RED_BUOY = 248, LOBOT_OI_HOME_BASE_RBFF = 250, LOBOT_OI_HOME_BASE_RG_BUOY = 252, LOBOT_OI_HOME_BASE_RGBFF = 254 }
enum	{ LOBOT_OI_CHARGING_NOT, LOBOT_OI_CHARGING_RECONDITIONING, LOBOT_OI_CHARGING_FULL, LOBOT_OI_CHARGING_TRICKLE, LOBOT_OI_CHARGING_WAITING, LOBOT_OI_CHARGING_FAULT }
	Enumerations for the current charging state. More...
enum	{ LOBOT_OI_CHSRC_HOME_BASE = 0x02, LOBOT_OI_CHSRC_INTERNAL = 0x01 }
	Enumerations for the charging sources. More...
enum	{ LOBOT_OI_MODE_OFF, LOBOT_OI_MODE_PASSIVE, LOBOT_OI_MODE_SAFE, LOBOT_OI_MODE_FULL }
	Enumerations for the robot's operational mode. More...
enum	{ LOBOT_OI_SENSOR_SIZE_GROUP_0 = 26, LOBOT_OI_SENSOR_SIZE_GROUP_1 = 10, LOBOT_OI_SENSOR_SIZE_GROUP_2 = 6, LOBOT_OI_SENSOR_SIZE_GROUP_3 = 10, LOBOT_OI_SENSOR_SIZE_GROUP_4 = 14, LOBOT_OI_SENSOR_SIZE_GROUP_5 = 12, LOBOT_OI_SENSOR_SIZE_GROUP_6 = 52 }

Detailed Description

Definitions for some of the Open Interface stuff used by the lobot low-level controller.

Definition in file LoOpenInterface.h.

Enumeration Type Documentation

anonymous enum

These enumerations are for the different Open Interface commands that the iRobot Create understands.

Enumerator:

LOBOT_OI_CMD_START	This command starts the Open Interface. The robot expects to be sent this command before it will start recognizing and responding to any other Open Interface commands.
LOBOT_OI_CMD_BAUD	This command sets the baud rate at which Open Interface commands and data are sent. It expects a one-byte baud rate code parameter to be sent along with the command. The default baud rate on power up is 57,600 bits per second. However, if the user holds down the Play button while powering on the Create, the baud rate will be set to 19,200 bps. Once the baud rate is set/changed, it remains in effect until the robot is power-cycled or until its battery removed or until the battery voltage drops below the minimum required for processor operation. After sending this command, be sure to wait at least 100ms for the baud rate change to take effect and for subsequent commands and data to be sent at the new baud rate. Moreover, at the maximum supported baud rate of 115,200 bps, be sure to wait at least 200 microseconds between consecutive send operations. DEVNOTE: This file defines symbolic constants for the supported baud rate codes and the corresponding values for the baud rate register UBRR0.
LOBOT_OI_CMD_PASSIVE	The Create has four operating modes, viz., Off, Passive, Safe and Full. In Passive mode, user programs can request sensor data and have the robot perfom any of its built-in demos, but cannot issue motor or actuator commands. The robot always powers up in Passive mode. In Safe mode, user programs have full control of the robot except when a cliff or wheel drop is detected. When that happens, the robot will immediately shut off its motors and revert to Passive mode. The same thing happens when the robot detects that its charger is plugged in. In Full mode, user programs have full control of the robot and it is up to user programs to detect and respond to cliff, wheel drop and charging events.
LOBOT_OI_CMD_DEMO	This command can be used to run one of the built-in demo programs. It expects a one-byte parameter specifying the demo number. NOTE: This command will put the robot into Passive mode. DEVNOTE: This file defines symbolic constants for the demo numbers.
LOBOT_OI_CMD_DEMO_SPOT	These commands can be used to run some of the demos directly (i.e., without having to use LOBOT_OI_CMD_DEMO + demo number).
LOBOT_OI_CMD_DRIVE	This command controls the Create's drive wheels. It expects four data bytes. The first two data bytes specify the average speed of the drive wheels in mm/s. The next two data bytes specify the turn radius in mm. Both parameters are interpreted as signed 16-bit integers, high byte first. Positive values of the speed parameter result in the Create driving forwards while negative values result in it backing up. Positive values of the turn parameter result in left (ccw) turns and negative turn radii result in right (cw) turns. The turn radius is measured from the center of the robot to the center of the turning circle. The speed parameter must lie in the range [-500, 500] and the turn radius parameter in the range [-2000, 2000]. Larger turn radii result in the Create driving straighter whereas short turn radii cause the Create to execute sharp turns. Special values are used to indicate in-place turns and to drive straight ahead without turning. DEVNOTE: This file defines symbolic constants for the turn radius special cases.
LOBOT_OI_CMD_DRIVE_DIRECT	This command allows independent control of the two drive wheels. It expects four data bytes. The first two bytes are a signed 16-bit integer (high byte first) specifying the speed (mm/s) for the right wheel and the other two data bytes are the same thing for the left wheel. Positive values for a given parameter will make that wheel drive forwards, negative values will make it go backwards. Both speed parameters must lie in the range [-500, 500].
LOBOT_OI_CMD_LEDS	This command controls the LEDs on the Create. It expects three data bytes. The first byte specifies the state of the Play and Advance LEDs. The second byte specifies the color of the Power LED and the third byte specifies the Power LED's intensity. Play and Advance LEDs: bit #1 is for the Play LED and bit #3 is for the Advance LED. If these bits are set to one, the respective LEDs will be on; if they are zero, the LEDs will be off. This file defines appropriate constants and masks for these LEDs. The Power LED: the second and third data bytes for this command are both unsigned numbers in the range [0, 255]. The second byte specifies the Power LED's color, which can glow green (0) to red (255). Intermediate values will result in colors such as orange, yellow, etc. The third byte controls the intensity with which the Power LED should glow. Zero means off, 255 means full intensity; intermediate values result in intermediate intensities.
LOBOT_OI_CMD_DEFINE_SONG	This command defines a "song" for the robot to play at some later time. The robot supports up to 16 such songs. Each song can contain up to 16 notes. A note is specified using MIDI note definitions plus a duration specified in fractions of a second. This command expects a series of data bytes. The first byte must specify the song ID (0 to 15) and the second byte specifies the number of notes the song contains (1 to 16). Thereafter, come the notes in byte pairs (first the MIDI note number and the next the duration).
LOBOT_OI_CMD_PLAY_SONG	This commands plays a song defined earlier with the SONG command. It expects one data byte, viz., the song number (0 to 15) to play. NOTE: The PLAY_SONG command won't work if another song is currently playing. The "song playing" sensor packet can be used to check whether the Create is ready to accept this command or not.
LOBOT_OI_CMD_SENSORS	This command requests the robot to send a packet of sensor data bytes. There are 43 differenct snsor data packets. Each such packet provides the value(s) of a specific sensor or group of sensors. The commands expects one data byte, viz., the sensor packet ID. NOTE: Sensor queries should not be sent faster than 67Hz. That is, consecutive sensor queries should be at least 15ms apart. DEVNOTE: This file defines constants for the different sensor packets.
LOBOT_OI_CMD_QUERY_LIST	This command requests a list of specific sensor packets instead of the predefined groups or single sensor values as in the SENSORS command. The robot returns the sensor packets in the order specified by the command. The command expects a series of data bytes. The first data byte must specify the number of sensor packets being requested. The remaining data bytes specify the desired packet IDs. NOTE: Sensor queries should not be sent faster than 67Hz. That is, consecutive sensor queries should be at least 15ms apart. DEVNOTE: This file defines constants for the different sensor packets.

Definition at line 56 of file LoOpenInterface.h.

anonymous enum

Enumerations for the supported baud rates. When the BAUD command is issued, the following data byte should be one of these values.

Definition at line 234 of file LoOpenInterface.h.

anonymous enum

Enumerations for the baud rate register values. When setting up the Open Interface baud rate, the UBRR0 register will have to take on one of these values.

Definition at line 252 of file LoOpenInterface.h.

anonymous enum

These enumerations specify the demo program to be run when the DEMO command is issued.

Enumerator:

LOBOT_OI_DEMO_ABORT	Abort the demo that Create is currently performing.
LOBOT_OI_DEMO_COVER	The Cover demo: Create attempts to cover an entire room using a comination of behaviours such as random bounce, wall following and spiraling.
LOBOT_OI_DEMO_COVER_AND_DOCK	The Cover and Dock demo: same as Cover except that if the Create sees an infrared signal from the Home Base, it docks and recharges itself.
LOBOT_OI_DEMO_SPOT	The Spot Cover demo: Create covers an around its starting position by spiraling outward and then inward.
LOBOT_OI_DEMO_MOUSE	The Mouse demo: Create locates a wall and then drives along it, traveling around the circumference of the room.
LOBOT_OI_DEMO_FIGURE_EIGHT	The Figure Eight demo: Create continuously drives in a figure 8 pattern.
LOBOT_OI_DEMO_WIMP	The Wimp demo: Create drives forward when pushed from behind; if it hits an obstacle, it drives away from the obstacle.
LOBOT_OI_DEMO_HOME	The Home demo: Create spins to locate a virtual wall and then drives toward it, stopping when it hits the wall or an obstacle.
LOBOT_OI_DEMO_TAG	The Tag demo: Create spins to locate a virtual wall, then drives toward it. Upon reaching the virtual wall, it spins to find another virtual wall and drives toward it; so on and so forth, continuously bouncing from one virtual wall to the next.
LOBOT_OI_DEMO_PACHELBEL	The Pachelbel demo: Create plays the notes of Pachelbel's Canon in sequence when cliff sensors are activated.
LOBOT_OI_DEMO_BANJO	The Banjo demo: Create plays a note for each of its four cliff sensors.

Definition at line 269 of file LoOpenInterface.h.

anonymous enum

Turn radius special cases.

Definition at line 319 of file LoOpenInterface.h.

anonymous enum

LED bit masks.

Definition at line 327 of file LoOpenInterface.h.

anonymous enum

Enumerations for the different sensor packet IDs.

Enumerator:

LOBOT_OI_SENSOR_GROUP_0	Sensor group zero returns packets 7 through 26.
LOBOT_OI_SENSOR_GROUP_1	Sensor group one returns packets 7 through 16.
LOBOT_OI_SENSOR_GROUP_2	Sensor group two returns packets 17 through 20.
LOBOT_OI_SENSOR_GROUP_3	Sensor group three returns packets 21 through 26.
LOBOT_OI_SENSOR_GROUP_4	Sensor group four returns packets 27 through 34.
LOBOT_OI_SENSOR_GROUP_5	Sensor group five returns packets 35 through 42.
LOBOT_OI_SENSOR_GROUP_6	Sensor group six returns all sensor packets, i.e., 7 through 42.
LOBOT_OI_SENSOR_BUMP_DROP	Packet 7 is for the state of the bump and wheel drop sensors. A single byte is returned for these sensors. Bits 0 and 1 are for the right and left bump sensors respectively; bits 2, 3 and 4 are for the right, left and caster wheel drops respectively. A value of 1 for a bit means that that particular sensor is on; zero means the sensor is off. DEVNOTE: This file defines constants for the bit masks that can be used to examine this sensor packet's data/value byte.
LOBOT_OI_SENSOR_WALL	This packet returns a single byte specifying the state of the wall sensor. A value of 1 means that a wall has been detected; zero means no wall.
LOBOT_OI_SENSOR_CLIFF_LEFT	These packets return single bytes for the states of the cliff sensors. One implies a cliff; zero means no cliff.
LOBOT_OI_SENSOR_VIRTUAL_WALL	This packet returns a single byte specifying the state of the virtual wall sensor. A value of 1 means that a virtual wall has been detected; zero means no virtual wall. NOTE: The force field around the IR emitter atop the Home Base also trips this sensor.
LOBOT_OI_SENSOR_INFRARED_BYTE	This packet returns a single data byte specifying the value of the IR byte currently being received by the Create. These bytes can be sent by the Roomba Remote, the Home Base or by other Create robots and/or user-created devices. The value of this sensor is an unsigned byte in the range [0, 255]. DEVNOTE: This file defines symbolic constants for the byte values that can be sent by the Roomba Remote and the Home Base.
LOBOT_OI_SENSOR_BUTTONS	This packet returns an unsigned byte indicating the state of the Create's Play and Advance buttons. Bit #0 specifies the state of the Play button and bit #2 is for the Advance button. When these bits are 1, the buttons are being pressed; zero means the buttons are not being pressed. DEVNOTE: This file defines symbolic constants that can be used as bit masks to ascertain the states of these two buttons using the data byte returned by this sensor packet.
LOBOT_OI_SENSOR_DISTANCE	This packet returns the distance (in mm) the robot has travelled since the previous query of this sensor. The value is returned as a signed 16-bit integer (high byte first). NOTE: If this value is not polled often enough, it will be capped at its minimum or maximum. Also, if the wheels slip, the actual distance may be different from the one measured by the robot.
LOBOT_OI_SENSOR_ANGLE	This packet returns the angle (in degrees) that the robot has turned since the previous query of this sensor. The value is returned as a signed 16-bit integer (high byte first). NOTE: If this value is not polled often enough, it will be capped at its minimum or maximum. Also, if the wheels slip, the actual angle may be different from the one measured by the robot.
LOBOT_OI_SENSOR_CHARGING_STATE	This packet returns the robot's current charging state. The return value is a single unsigned byte containing a code indicating the state. DEVNOTE: This file defines symbolic constants for the charging state.
LOBOT_OI_SENSOR_VOLTAGE	This packet indicates the voltage (in mV) of the robot's battery. It is returned as an unsigned 16-bit number (high byte first).
LOBOT_OI_SENSOR_CURRENT	This packet indicates the current (in mA) flowing into or out of the robot's battery. It is returned as a signed 16-bit number (high byte first). Negative values indicate current flowing out of the battery (as during normal operation) and positive values indicate current flowing into the battery (as during charging).
LOBOT_OI_SENSOR_BATTERY_TEMP	This packet returns a single signed data byte indicating the battery temperature (in degrees Celcius).
LOBOT_OI_SENSOR_BATTERY_CHARGE	This packet returns an unsigned 16-bit integer (high byte first) indicating the current charge in the robot's battery (in mAh). The charge value will decrease as the battery is depleted during normal operation and increase when it is being recharged.
LOBOT_OI_SENSOR_BATTERY_CAPACITY	This packet returns an unsigned 16-bit integer (high byte first) indicating the estimated charge capacity in the robot's battery (in mAh).
LOBOT_OI_SENSOR_WALL_SIGNAL	This packet returns the strength of the wall sensor's signal in an unsigned 16-bit integer (high byte first) whose value can range from 0 to 4095.
LOBOT_OI_SENSOR_CLIFF_LEFT_SIGNAL	These packets return the strength of the cliff sensors' signals in unsigned 16-bit integers (high bytes first) whose values are in the range [0, 4095].
LOBOT_OI_SENSOR_CHARGING_SOURCES	This packet returns via an unsigned byte the availability of charging sources. If bit #0 is set, it means that the robot's internal charger is connected to a power supply; zero means this charging source is absent. If bit #1 is on, then the robot is connected to its Home Base; zero means not on the Home Base. DEVNOTE: This file defines appropriate bit mask constants to test this sensor packet's return value.
LOBOT_OI_SENSOR_MODE	This packet returns the current mode (Off, Passive, Safe or Full). The return value is a single unsigned byte. DEVNOTE: This file defines symbolic constants for the above-mentioned states.
LOBOT_OI_SENSOR_SONG_NUMBER	This packet returns the currently selected song via a single unsigned data byte.
LOBOT_OI_SENSOR_SONG_PLAYING	This packet returns one unsigned data byte, a flag indicating whether the robot is currently playing a song or not.
LOBOT_OI_SENSOR_REQUESTED_SPEED	This packet returns the most recently requested drive command speed parameter via a signed 16-bit integer (high byte first). The return value will lie in the range [-500, 500].
LOBOT_OI_SENSOR_REQUESTED_RADIUS	This packet returns the most recently requested drive command turn radius parameter via a signed 16-bit integer (high byte first). The return value will lie in the range [-2000, 2000].
LOBOT_OI_SENSOR_REQUESTED_SPEED_RIGHT	These packets return the most recently requested drive direct command speed parameters via a signed 16-bit integer (high byte first). The return value will lie in the range [-500, 500].

Definition at line 334 of file LoOpenInterface.h.

anonymous enum

Sensor bit masks.

Enumerator:

LOBOT_OI_BUMP_LEFT	Bit masks to test the bump sensors.
LOBOT_OI_WHEEL_DROP_CASTER	Bit masks to test the wheel drop sensors.
LOBOT_OI_BUTTON_ADVANCE	Bit masks to test the states of the Play and Advance buttons.

Definition at line 524 of file LoOpenInterface.h.

anonymous enum

Enumerations for the infrared bytes sent by the Roomba remote and the Home base.

Definition at line 551 of file LoOpenInterface.h.

anonymous enum

Enumerations for the current charging state.

Definition at line 577 of file LoOpenInterface.h.

anonymous enum

Enumerations for the charging sources.

Definition at line 587 of file LoOpenInterface.h.

anonymous enum

Enumerations for the robot's operational mode.

Definition at line 593 of file LoOpenInterface.h.

anonymous enum

Enumerations for the number of bytes of sensor data returned for the predefined sensor groups.

Definition at line 602 of file LoOpenInterface.h.