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<h1>bom.c File Reference</h1>Implementation for using the BOM. <a href="#_details">More...</a>
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<p>
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<code>#include &lt;<a class="el" href="dragonfly__lib_8h-source.html">dragonfly_lib.h</a>&gt;</code><br>
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<code>#include &quot;<a class="el" href="bom_8h-source.html">bom.h</a>&quot;</code><br>
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<code>#include &quot;<a class="el" href="dio_8h-source.html">dio.h</a>&quot;</code><br>
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<code>#include &quot;<a class="el" href="serial_8h-source.html">serial.h</a>&quot;</code><br>
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<code>#include &quot;<a class="el" href="analog_8h-source.html">analog.h</a>&quot;</code><br>
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<table border="0" cellpadding="0" cellspacing="0">
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<tr><td></td></tr>
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<tr><td colspan="2"><br><h2>Defines</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5d8d40cc8142751f4b3b50fde41b6570"></a><!-- doxytag: member="bom.c::MONKI" ref="5d8d40cc8142751f4b3b50fde41b6570" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>MONKI</b>&nbsp;&nbsp;&nbsp;PF0</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="77120770fd09eb0f89829b4971c78775"></a><!-- doxytag: member="bom.c::MONKL" ref="77120770fd09eb0f89829b4971c78775" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>MONKL</b>&nbsp;&nbsp;&nbsp;_PIN_E2</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8b36a82284a94cc38830919bf985ed91"></a><!-- doxytag: member="bom.c::MONK1" ref="8b36a82284a94cc38830919bf985ed91" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>MONK1</b>&nbsp;&nbsp;&nbsp;_PIN_E3</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="505cd1518a902fa8cd2c2e73d082efc7"></a><!-- doxytag: member="bom.c::MONK0" ref="505cd1518a902fa8cd2c2e73d082efc7" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>MONK0</b>&nbsp;&nbsp;&nbsp;_PIN_E4</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b7b32afbc573f63cf936ca85a7489c31"></a><!-- doxytag: member="bom.c::MONK3" ref="b7b32afbc573f63cf936ca85a7489c31" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>MONK3</b>&nbsp;&nbsp;&nbsp;_PIN_E6</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2cb88bb258f22bbd34797987539e111c"></a><!-- doxytag: member="bom.c::MONK2" ref="2cb88bb258f22bbd34797987539e111c" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>MONK2</b>&nbsp;&nbsp;&nbsp;_PIN_E7</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="62d3789a9837190df2131daaae722a5f"></a><!-- doxytag: member="bom.c::BOM_VALUE_THRESHOLD" ref="62d3789a9837190df2131daaae722a5f" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_VALUE_THRESHOLD</b>&nbsp;&nbsp;&nbsp;200</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="29d7a583381e7f6918e28cb4b643ce9f"></a><!-- doxytag: member="bom.c::NUM_BOM_LEDS" ref="29d7a583381e7f6918e28cb4b643ce9f" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>NUM_BOM_LEDS</b>&nbsp;&nbsp;&nbsp;16</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b05397a2f5b2b19557bb823920c0df7f"></a><!-- doxytag: member="bom.c::BOM_MODE" ref="b05397a2f5b2b19557bb823920c0df7f" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_MODE</b>&nbsp;&nbsp;&nbsp;_PIN_E2</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f955163187ac52f024179641f855ef9b"></a><!-- doxytag: member="bom.c::BOM_STROBE" ref="f955163187ac52f024179641f855ef9b" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_STROBE</b>&nbsp;&nbsp;&nbsp;_PIN_E3</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="540ae969f53e326cb857a7ae09de9d10"></a><!-- doxytag: member="bom.c::BOM_DATA" ref="540ae969f53e326cb857a7ae09de9d10" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_DATA</b>&nbsp;&nbsp;&nbsp;_PIN_A0</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7e1bc0d3a2ead8130243767c7e46f5a5"></a><!-- doxytag: member="bom.c::BOM_CLOCK" ref="7e1bc0d3a2ead8130243767c7e46f5a5" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_CLOCK</b>&nbsp;&nbsp;&nbsp;_PIN_A1</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="33b49175a1e5636ef29c002e809f5457"></a><!-- doxytag: member="bom.c::BOM_S0" ref="33b49175a1e5636ef29c002e809f5457" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_S0</b>&nbsp;&nbsp;&nbsp;_PIN_E5</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="480f4efafa11c09bd666f12096b404bd"></a><!-- doxytag: member="bom.c::BOM_S1" ref="480f4efafa11c09bd666f12096b404bd" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_S1</b>&nbsp;&nbsp;&nbsp;_PIN_E4</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a6815e64169be3f4867222411ceb51f9"></a><!-- doxytag: member="bom.c::BOM_S2" ref="a6815e64169be3f4867222411ceb51f9" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_S2</b>&nbsp;&nbsp;&nbsp;_PIN_E7</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="42c6f96fa0ba3259e19354d5a54dad08"></a><!-- doxytag: member="bom.c::BOM_S3" ref="42c6f96fa0ba3259e19354d5a54dad08" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_S3</b>&nbsp;&nbsp;&nbsp;_PIN_E6</td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e32c39b58a16cfdb86b192bd72f95b8b"></a><!-- doxytag: member="bom.c::BOM_OUT" ref="e32c39b58a16cfdb86b192bd72f95b8b" args="" -->


      

      

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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>BOM_OUT</b>&nbsp;&nbsp;&nbsp;PF0</td></tr>


      

      

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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g101f932380b02b48a0ca3d20ffc8c08f">bom_init</a> (char type)</td></tr>


      

      

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize the bom according to bom type.  <a href="group__bom.html#g101f932380b02b48a0ca3d20ffc8c08f"></a><br></td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#gbdcdf3a1428f8145ee5eed82efdaf0fc">bom_refresh</a> (int bit_field)</td></tr>


      

      

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Refresh bom_val[] with new values from analog8. analog_init and bom_init must be called for this to work.  <a href="group__bom.html#gbdcdf3a1428f8145ee5eed82efdaf0fc"></a><br></td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#gd28d2a59a5090390e20f87cfd05b0a8b">bom_get</a> (int which)</td></tr>


      

      

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values.  <a href="group__bom.html#gd28d2a59a5090390e20f87cfd05b0a8b"></a><br></td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#gbce8d8dd8f11d8f5e9f9d74d84ea15db">bom_get_max</a> (void)</td></tr>


      

      

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Compares all the values in bom_val[] and returns the index to the highest value element.  <a href="group__bom.html#gbce8d8dd8f11d8f5e9f9d74d84ea15db"></a><br></td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g8e42fe2740ecc49e7c057e9d7df9c9eb">bom_set_leds</a> (int bit_field)</td></tr>


      

      

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Enables the selected bom leds on a BOM1.5.  <a href="group__bom.html#g8e42fe2740ecc49e7c057e9d7df9c9eb"></a><br></td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g86753fe7440cd64e60c58ad31c62264a">get_max_bom</a> (void)</td></tr>


      

      

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">(DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element.  <a href="group__bom.html#g86753fe7440cd64e60c58ad31c62264a"></a><br></td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g93b665ff81fc6b58503c6ba5ba01c1bf">bom_on</a> (void)</td></tr>


      

      

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Turns on all BOM leds, or turns on enabled leds on a BOM1.5.  <a href="group__bom.html#g93b665ff81fc6b58503c6ba5ba01c1bf"></a><br></td></tr>


      

      

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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g61a66e53cdee8bce139c707153143b30">bom_off</a> (void)</td></tr>


      

      

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Turns off all bom leds.  <a href="group__bom.html#g61a66e53cdee8bce139c707153143b30"></a><br></td></tr>


      

      

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<hr><a name="_details"></a><h2>Detailed Description</h2>


      

      

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Implementation for using the BOM.


      

      

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<p>


      

      

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Copyright (c) 2007 Colony Project<p>


      

      

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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:<p>


      

      

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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.<p>


      

      

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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.<p>


      

      

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Contains functions for using the Bearing and Orientation Module (BOM)<p>


      

      

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<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl>


      

      

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<hr size="1"><address style="text-align: right;"><small>Generated on Thu Apr 16 18:33:23 2009 for libdragonfly by&nbsp;


      

      

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<a href="http://www.doxygen.org/index.html">


      

      

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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.5 </small></address>


      

      

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