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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8"> |
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<title>Colony: BOM (Bearing and Orientation Module)</title> |
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<div class="contents"> |
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<h1>BOM (Bearing and Orientation Module)</h1>Functions for dealing with the BOM. |
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<a href="#_details">More...</a> |
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<p>
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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="g3f1e6fc7eeb6d7cffde8bb03ff8dc488"></a><!-- doxytag: member="bom::BOM_ALL" ref="g3f1e6fc7eeb6d7cffde8bb03ff8dc488" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g3f1e6fc7eeb6d7cffde8bb03ff8dc488">BOM_ALL</a> 0xFFFF</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Include all elements in the 16-bit bitfield. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gacc7c8241c56ea13b6d50efb281df890"></a><!-- doxytag: member="bom::BOM10" ref="gacc7c8241c56ea13b6d50efb281df890" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#gacc7c8241c56ea13b6d50efb281df890">BOM10</a> 0</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Original BOM - No Range, No Individual LED control. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g8c5367cf01a2a7ede66be0f2a49b28d0"></a><!-- doxytag: member="bom::BOM15" ref="g8c5367cf01a2a7ede66be0f2a49b28d0" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g8c5367cf01a2a7ede66be0f2a49b28d0">BOM15</a> 1</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">BOM 1.5 - No Range, Individual LED control. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g1ff400a0e77d2266138b080061f49d01"></a><!-- doxytag: member="bom::RBOM" ref="g1ff400a0e77d2266138b080061f49d01" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g1ff400a0e77d2266138b080061f49d01">RBOM</a> 2</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">RBOM - Range, Individual LED control. <br></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">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g246031da5c3e5b2a9a9e26111f94eefc">bom_init</a> (char type)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the bom according to bom type. <a href="#g246031da5c3e5b2a9a9e26111f94eefc"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g7a588733784c3e3ac915b7caef6365a9">bom_refresh</a> (int bit_field)</td></tr> |
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<tr><td class="mdescLeft"> </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="#g7a588733784c3e3ac915b7caef6365a9"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </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"> </td><td class="mdescRight">Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. <a href="#gd28d2a59a5090390e20f87cfd05b0a8b"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </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"> </td><td class="mdescRight">Compares all the values in bom_val[] and returns the index to the highest value element. <a href="#gbce8d8dd8f11d8f5e9f9d74d84ea15db"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g88316fc0dab8c7e6bb700ba8981e5765">bom_get_max10</a> (int *dist)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the weighted average of all the bom readings to estimate the position and distance of another robot. <a href="#g88316fc0dab8c7e6bb700ba8981e5765"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g184db44bd32eef775c650c7f369b7ffa">bom_set_leds</a> (int bit_field)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables the selected bom leds on a BOM1.5. <a href="#g184db44bd32eef775c650c7f369b7ffa"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </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"> </td><td class="mdescRight">(DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element since last refresh. <a href="#g86753fe7440cd64e60c58ad31c62264a"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g3311d5de1727b36719d19d54bdd42278">bom_on</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Turns on all BOM leds, or turns on enabled leds on a BOM1.5. <a href="#g3311d5de1727b36719d19d54bdd42278"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#gb64c33f35899910af466984af149ab71">bom_off</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Turns off all bom leds. <a href="#gb64c33f35899910af466984af149ab71"></a><br></td></tr> |
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<tr><td colspan="2"><br><h2>Variables</h2></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gb9a919548df2f027e0d599ecf65d735d"></a><!-- doxytag: member="bom::bom_initd" ref="gb9a919548df2f027e0d599ecf65d735d" args="" --> |
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unsigned char </td><td class="memItemRight" valign="bottom"><b>bom_initd</b> = 0</td></tr> |
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</table>
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<hr><a name="_details"></a><h2>Detailed Description</h2> |
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Functions for dealing with the BOM. |
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<p>
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The Bearing and Orientation Module / Barrel of Monkeys / BOM is a custom sensor designed and built by the Colony Project. It consists of a ring of 16 IR emitters and 16 IR detectors. The BOM is most often use to determine the direction of other robots. This module contains functions for controlling the BOM.<p>
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Include <a class="el" href="bom_8h.html" title="Definitions for using the BOM.">bom.h</a> to access these functions. <hr><h2>Function Documentation</h2> |
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<a class="anchor" name="gd28d2a59a5090390e20f87cfd05b0a8b"></a><!-- doxytag: member="bom.c::bom_get" ref="gd28d2a59a5090390e20f87cfd05b0a8b" args="(int which)" --> |
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<td class="memname">int bom_get </td> |
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<td>(</td> |
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<td class="paramtype">int </td> |
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<td class="paramname"> <em>which</em> </td> |
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<td> ) </td> |
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<td></td> |
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<p>
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Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. |
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<p>
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Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values.<p>
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<dl class="pre" compact><dt><b>Precondition:</b></dt><dd>must call bom refresh first</dd></dl> |
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>which</em> </td><td>which bom value to return</td></tr> |
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</table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the bom value, -1 on error</dd></dl> |
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see bom_refresh |
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</div>
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</div><p> |
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<a class="anchor" name="gbce8d8dd8f11d8f5e9f9d74d84ea15db"></a><!-- doxytag: member="bom.c::bom_get_max" ref="gbce8d8dd8f11d8f5e9f9d74d84ea15db" args="(void)" --> |
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<td class="memname">int bom_get_max </td> |
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<td>(</td> |
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<td class="paramtype">void </td> |
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<td class="paramname"> </td> |
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<td> ) </td> |
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<td></td> |
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<p>
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Compares all the values in bom_val[] and returns the index to the highest value element. |
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<p>
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Compares all the values in bom_val[] and returns the index to the lowest (max) value element.<p>
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<dl class="pre" compact><dt><b>Precondition:</b></dt><dd>must call bom refresh </dd></dl> |
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>index to the lowest (max) bom value element. -1 if no value is lower than BOM_VALUE_THRESHOLD, -2 if the bom is not initialized </dd></dl> |
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</div>
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</div><p> |
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<a class="anchor" name="g88316fc0dab8c7e6bb700ba8981e5765"></a><!-- doxytag: member="bom.c::bom_get_max10" ref="g88316fc0dab8c7e6bb700ba8981e5765" args="(int *dist)" --> |
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<td class="memname">int bom_get_max10 </td> |
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<td>(</td> |
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<td class="paramtype">int * </td> |
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<td class="paramname"> <em>dist</em> </td> |
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<td> ) </td> |
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<td></td> |
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<div class="memdoc"> |
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<p>
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Computes the weighted average of all the bom readings to estimate the position and distance of another robot. |
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<p>
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Computes the weighted average of all the bom readings to estimate the position (and distance) of another robot.<p>
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<dl class="pre" compact><dt><b>Precondition:</b></dt><dd>must call bom refresh </dd></dl> |
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>dist</em> </td><td>pointer to int in which to return the estimated distance to the other robot </td></tr> |
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</table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>estimated position of the max bom value element as a fixed point value analogous to 10 times the index of the max bom value. -1 if no value is lower than BOM_VALUE_THRESHOLD, -2 if the bom is not initialized </dd></dl> |
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</div><p> |
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<a class="anchor" name="g246031da5c3e5b2a9a9e26111f94eefc"></a><!-- doxytag: member="bom.c::bom_init" ref="g246031da5c3e5b2a9a9e26111f94eefc" args="(char type)" --> |
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<td class="memname">int bom_init </td> |
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<td class="paramtype">char </td> |
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<td class="paramname"> <em>type</em> </td> |
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<p>
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Initialize the bom according to bom type. |
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Initializes the BOM. Call bom_init before reading bom values or turning bom leds.<p>
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INCOMPLETE - No utilization of BOM1.5 RSSI capability. Probably leave this out until Cornell and Pras return<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl> |
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#g7a588733784c3e3ac915b7caef6365a9" title="Refresh bom_val[] with new values from analog8. analog_init and bom_init must be...">bom_refresh</a>, bom_leds_on, bom_leds_off </dd></dl> |
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</div><p> |
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<a class="anchor" name="gb64c33f35899910af466984af149ab71"></a><!-- doxytag: member="bom.c::bom_off" ref="gb64c33f35899910af466984af149ab71" args="(void)" --> |
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<td class="memname">int bom_off </td> |
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<td>(</td> |
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Turns off all bom leds. |
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Turns off all bom leds.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl> |
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#g3311d5de1727b36719d19d54bdd42278" title="Turns on all BOM leds, or turns on enabled leds on a BOM1.5.">bom_on</a> </dd></dl> |
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<a class="anchor" name="g3311d5de1727b36719d19d54bdd42278"></a><!-- doxytag: member="bom.c::bom_on" ref="g3311d5de1727b36719d19d54bdd42278" args="(void)" --> |
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<td class="memname">int bom_on </td> |
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<td>(</td> |
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Turns on all BOM leds, or turns on enabled leds on a BOM1.5. |
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Flashes the BOM. If using a BOM1.5, only the emitters that have been enabled using bom_set_leds will turn on.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl> |
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#gb64c33f35899910af466984af149ab71" title="Turns off all bom leds.">bom_off</a>, <a class="el" href="group__bom.html#g184db44bd32eef775c650c7f369b7ffa" title="Enables the selected bom leds on a BOM1.5.">bom_set_leds</a> </dd></dl> |
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<a class="anchor" name="g7a588733784c3e3ac915b7caef6365a9"></a><!-- doxytag: member="bom.c::bom_refresh" ref="g7a588733784c3e3ac915b7caef6365a9" args="(int bit_field)" --> |
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<td class="memname">int bom_refresh </td> |
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<td>(</td> |
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<td class="paramtype">int </td> |
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<td class="paramname"> <em>bit_field</em> </td> |
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<td> ) </td> |
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Refresh bom_val[] with new values from analog8. analog_init and bom_init must be called for this to work. |
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<p>
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Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits and updates the corresponding bom value with an analog_get8 reading. analog_init and bom_init must be called for this to work. Must call this before reading BOM values!<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>bit_field</em> </td><td>specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values. Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated.</td></tr> |
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</table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl> |
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#gd28d2a59a5090390e20f87cfd05b0a8b" title="Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new...">bom_get</a> </dd></dl> |
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<a class="anchor" name="g184db44bd32eef775c650c7f369b7ffa"></a><!-- doxytag: member="bom.c::bom_set_leds" ref="g184db44bd32eef775c650c7f369b7ffa" args="(int bit_field)" --> |
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<td class="memname">int bom_set_leds </td> |
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<td>(</td> |
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<td class="paramtype">int </td> |
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<td class="paramname"> <em>bit_field</em> </td> |
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<td> ) </td> |
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Enables the selected bom leds on a BOM1.5. |
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Iterates through each bit in the bit_field. If the bit is set, the corresponding emitter will be enabled to turn on when <a class="el" href="group__bom.html#g3311d5de1727b36719d19d54bdd42278" title="Turns on all BOM leds, or turns on enabled leds on a BOM1.5.">bom_on()</a> is called. bom_init must be called for this to work. Does nothing if a BOM1.0 is installed<p> |
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>bit_field</em> </td><td>specifies which leds should be turned on when bom_on is called. Use BOM_ALL to turn on all bom leds. Ex. if 0x0005 is passed, leds 0 and 2 will be turned on.</td></tr> |
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise </dd></dl> |
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<a class="anchor" name="g86753fe7440cd64e60c58ad31c62264a"></a><!-- doxytag: member="bom.c::get_max_bom" ref="g86753fe7440cd64e60c58ad31c62264a" args="(void)" --> |
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<td class="memname">int get_max_bom </td> |
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(DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element since last refresh. |
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(DEPRECATED) Returns the direction of the maximum BOM reading, as an integer in the range 0-15. 0 indicates to the robot's right, while the rest of the sensors are numbered counterclockwise. This is useful for determining the direction of a robot flashing its BOM, of only one robot is currently doing so. analog_init must be called before this function can be used.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the direction of the maximum BOM reading</dd></dl> |
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__analog.html#gf998a4653bf62164fcc93b0f58796ab5" title="Initialize analog ports. Will start running a loop if start_conversion is ADC_START...">analog_init</a> </dd></dl> |
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:59 2009 for Colony by |
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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> 1.5.8 </small></address> |
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