root / trunk / code / projects / libdragonfly / bom.h @ 1930
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1 | 8 | bcoltin | /**
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2 | 241 | bcoltin | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | |||
27 | /**
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28 | 8 | bcoltin | * @file bom.h
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29 | * @brief Definitions for using the BOM
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30 | *
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31 | * This file contains definitions for using the Bearing and
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32 | * Orientation Module (BOM).
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | *
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36 | **/
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37 | |||
38 | #ifndef _BOM_H
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39 | #define _BOM_H
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40 | |||
41 | /**
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42 | * @addtogroup bom
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43 | * @{
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44 | **/
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45 | 448 | cmar | |
46 | /** @brief Include all elements in the 16-bit bitfield **/
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47 | #define BOM_ALL 0xFFFF |
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48 | 945 | abuchan | |
49 | 448 | cmar | /** @brief Original BOM - No Range, No Individual LED control **/
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50 | 945 | abuchan | #define BOM10 0 |
51 | |||
52 | 448 | cmar | /** @brief BOM 1.5 - No Range, Individual LED control **/
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53 | #define BOM15 1 |
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54 | 945 | abuchan | |
55 | 448 | cmar | /** @brief RBOM - Range, Individual LED control **/
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56 | #define RBOM 2 |
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57 | 945 | abuchan | |
58 | |||
59 | 1582 | jsexton | /** @brief Struct for storing x and y component vector data. Used by bom_get_vector() functions **/
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60 | 1536 | jsexton | typedef struct vector { |
61 | int x;
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62 | int y;
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63 | } Vector; |
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64 | |||
65 | |||
66 | 448 | cmar | /** @brief Initialize the bom according to bom type **/
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67 | 1496 | jsexton | void bom_init(char type); |
68 | 945 | abuchan | |
69 | 448 | cmar | /** @brief Refresh bom_val[] with new values from analog8. analog_init and bom_init must be called for this to work. **/
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70 | 1496 | jsexton | void bom_refresh(int bit_field); |
71 | 945 | abuchan | |
72 | 448 | cmar | /** @brief Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. **/
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73 | int bom_get(int which); |
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74 | 945 | abuchan | |
75 | 448 | cmar | /** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/
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76 | int bom_get_max(void); |
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77 | 8 | bcoltin | |
78 | 1536 | jsexton | /** @brief Computes the net resultant BOM IR vector. **/
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79 | int bom_get_vector(Vector*, int*); |
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80 | |||
81 | /** @brief Computes the normalized net resultant BOM IR vector. **/
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82 | int bom_get_norm_vector(Vector*, int*); |
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83 | |||
84 | 1529 | jsexton | /** @brief Print snapshot of BOM intensity histogram over USB connection **/
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85 | 1536 | jsexton | int bom_print_usb(int*); |
86 | 1529 | jsexton | |
87 | 1443 | rcahoon | /** @brief Computes the weighted average of all the bom readings to estimate the position and distance of another robot. **/
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88 | int bom_get_max10(int *dist); |
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89 | |||
90 | 945 | abuchan | /** @brief Enables the selected bom leds on a BOM1.5 **/
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91 | 1496 | jsexton | void bom_set_leds(int bit_field); |
92 | 945 | abuchan | |
93 | 1417 | emullini | /** @brief (DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element since last refresh. **/
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94 | 448 | cmar | int get_max_bom(void); |
95 | 945 | abuchan | |
96 | /** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/
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97 | 1496 | jsexton | void bom_on(void); |
98 | 945 | abuchan | |
99 | /** @brief Turns off all bom leds. **/
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100 | 1496 | jsexton | void bom_off(void); |
101 | 8 | bcoltin | |
102 | /** @} **/
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103 | |||
104 | #endif
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