Colony

/*

        analog.h - Contains definitions and function prototypes for using the

        ADC to detect analog signals on pins AN0 - AN7

        AN6 and AN7 are used for the wheel and battery

        The pins labeled E6 and E7 are external interrupt pins and are not related to analog

        author: CMU Robotics Club, Colony Project

        code taken from the fwr analog file (author:  Tom Lauwers)

*/

#ifndef _ANALOG_H

#define _ANALOG_H

#define AN0 0x00

#define AN1 0x01

#define AN2 0x02

#define AN3 0x03

#define AN4 0x04

#define AN5 0x05

#define AN6 0x06

#define AN7 0x07

#ifdef FFPP

#define AN8 0x08

#define AN9 0x09

#define ANA 0x0A

#define ANB 0x0B

#define ANC 0x0C

#define AND 0x0D

#define ANE 0x0E

#define ANF 0x0F

#define EXT_MUX   0x07

#define IR_READ   0x08

#define IR1_READ  0x08

#define IR2_READ  0x09

#define IR3_READ  10

#define IR4_READ  11

#define IR5_READ  12

#define ADC_BATT  13

#define ADC_WHEEL 14

#define ADC_3V3   15

#define WHEEL_PORT ANE

#define BATT_PORT AND

#else

#define WHEEL_PORT AN6

#define BATT_PORT  AN7

#endif

/*

        Call this function before reading from the analog ports

        turns on the ADC

*/

void analog_init(void);

/*

        returns an 8-bit number from the desired analog port

        argument should be one of the constants AN0 - AN7

        behavior is undefined otherwise

        analog_init() must be called before a call to this function

*/

unsigned int analog8(int which);

/*

        returns a 10-bit number from the desired analog port

        argument should be one of the constants AN0 - AN7

        behavior is undefined otherwise

        analog_init() must be called before a call to this function

*/

unsigned int analog10(int which);

/*

        returns the current value (0-255) of the wheel

        analog_init() must be called before a call to this function

*/

int wheel(void);

/*

        returns the current voltage of the battery (deciVolts)

        analog_init() must be called before a call to this function

*/

int battery(void);

#ifdef FFPP

 void enable_analog(int analog_setting);

void set_adc_mux(int which);

#endif

#endif