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<a name="l00071"></a>00071 <span class="preprocessor">#include &lt;inttypes.h&gt;</span>

<a name="l00072"></a>00072 <span class="preprocessor">#include &lt;avr/pgmspace.h&gt;</span>

<a name="l00073"></a>00073 

<a name="l00083"></a>00083 <span class="comment">// if no baud rate is defined for usb, default is set here</span>

<a name="l00084"></a>00084 <span class="preprocessor">#ifndef USB_BAUD</span>

<a name="l00086"></a><a class="code" href="group__usb.html#g378065b4d75b008228ee41cc335474a7">00086</a> <span class="preprocessor">#define USB_BAUD 115200</span>

<a name="l00087"></a>00087 <span class="preprocessor"></span><span class="preprocessor">#endif</span>

<a name="l00088"></a>00088 <span class="preprocessor"></span>

<a name="l00090"></a>00090 <span class="keywordtype">void</span> <a class="code" href="group__usb.html#gddfbdb66f507ffcd08b4496531ed0a3d" title="Initialize the USB.">usb_init</a>(<span class="keywordtype">void</span>);

<a name="l00092"></a>00092 <span class="keywordtype">int</span> <a class="code" href="group__usb.html#g3ee898cfe59d05c428c56021c2ccf946" title="Print a character to USB.">usb_putc</a>(<span class="keywordtype">char</span> c);

<a name="l00094"></a>00094 <span class="keywordtype">int</span> <a class="code" href="group__usb.html#g053a5d887edfe8e8be543ec53a3f60ae" title="Read a character from USB.">usb_getc</a>(<span class="keywordtype">void</span>);

<a name="l00096"></a>00096 <span class="keywordtype">int</span> <a class="code" href="group__usb.html#g6b1209b19e7fd2bbedc7407e0218453c" title="Read a character from USB without blocking.">usb_getc_nb</a>(<span class="keywordtype">char</span> *c);

<a name="l00098"></a>00098 <span class="keywordtype">int</span> <a class="code" href="group__usb.html#g6e101f68856f272f67923c4fb35a99e0" title="Print a string to USB.">usb_puts</a>(<span class="keywordtype">char</span> *s);

<a name="l00100"></a>00100 <span class="keywordtype">void</span> <a class="code" href="group__usb.html#g774d8b902cae279696c53502168ade07" title="Print a string from program space to USB.">usb_puts_P</a> (PGM_P s);

<a name="l00102"></a>00102 <span class="keywordtype">int</span> <a class="code" href="group__usb.html#gcd371dedbff10f0c52dca4b3b7af9e3d" title="Print an integer to USB.">usb_puti</a>(<span class="keywordtype">int</span> value);

<a name="l00104"></a>00104 uint8_t <a class="code" href="group__usb.html#g94d47853c33da12c71dec155f819cfeb" title="Determine a hexadecimal digit.">hex_digit</a> (uint8_t value);

<a name="l00106"></a>00106 <span class="keywordtype">void</span> <a class="code" href="group__usb.html#g8e7e31f1e45721ac032267b13d0f759b" title="Print a fixed width hexadecimal representation to USB.">usb_puth16</a> (uint16_t value);

<a name="l00108"></a>00108 <span class="keywordtype">void</span> <a class="code" href="group__usb.html#g21462df541911e0611416e85be6ea34d" title="Print a fixed width hexadecimal representation to USB.">usb_puth8</a>(uint8_t value);

<a name="l00110"></a>00110 <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> usb_puth (uint16_t value) { <a class="code" href="group__usb.html#g8e7e31f1e45721ac032267b13d0f759b" title="Print a fixed width hexadecimal representation to USB.">usb_puth16</a> (value); };

<a name="l00111"></a>00111 

<a name="l00112"></a>00112  <span class="comment">//end addtogroup</span>

<a name="l00114"></a>00114 

<a name="l00124"></a>00124 <span class="comment">// if no baud rate is defined for usb, default is set here</span>

<a name="l00125"></a>00125 

<a name="l00126"></a>00126 <span class="comment">// if no baud rate is defined for xbee, default is set here</span>

<a name="l00127"></a>00127 <span class="preprocessor">#ifndef XBEE_BAUD</span>

<a name="l00128"></a>00128 <span class="preprocessor"></span>

<a name="l00129"></a><a class="code" href="group__xbee.html#g7125fc8f3df24a2db8e074983206b054">00129</a> <span class="preprocessor">#define XBEE_BAUD 9600</span>

<a name="l00130"></a>00130 <span class="preprocessor"></span><span class="preprocessor">#endif</span>

<a name="l00131"></a>00131 <span class="preprocessor"></span>

<a name="l00133"></a>00133 <span class="keywordtype">void</span> <a class="code" href="group__xbee.html#g964a1e8461e9c1187e5d69f521e5e107" title="Initialize the XBee.">xbee_init</a>(<span class="keywordtype">void</span>);

<a name="l00135"></a>00135 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#g70c6b231330312d4f69b9a8afb5af989" title="Print a character to the XBee.">xbee_putc</a>(<span class="keywordtype">char</span> c);

<a name="l00137"></a>00137 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#g1f468ae159ba5d97bdfb3f4855d15d88" title="Read a character from the XBee.">xbee_getc</a>(<span class="keywordtype">void</span>);

<a name="l00139"></a>00139 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#gfb7bd5dd535e8251bfff78854c6c15f2" title="Read a character from the XBee without blocking.">xbee_getc_nb</a>(<span class="keywordtype">char</span> *c);

<a name="l00140"></a>00140 

<a name="l00141"></a>00141 

<a name="l00142"></a>00142  <span class="comment">//end addtogroup</span>

<a name="l00144"></a>00144 

<a name="l00145"></a>00145 <span class="preprocessor">#endif</span>

<a name="l00146"></a>00146 <span class="preprocessor"></span>

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<title>libdragonfly: &lt;util/atomic.h&gt; Atomically and Non-Atomically Executed Code Blocks</title>

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<h1>&lt;util/atomic.h&gt; Atomically and Non-Atomically Executed Code Blocks</h1><table border="0" cellpadding="0" cellspacing="0">

<tr><td></td></tr>

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

<tr><td class="memItemLeft" nowrap align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__util__atomic.html#gaaea265b31dabcfb3098bec7685c39e4">ATOMIC_BLOCK</a>(type)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__util__atomic.html#g6e195ee2117559a25f77fbba9054674a">NONATOMIC_BLOCK</a>(type)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__util__atomic.html#g362c18b15a09703e42e1c246c47420ef">ATOMIC_RESTORESTATE</a></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__util__atomic.html#g92b11103b4b3b000a3190f0d26ba7062">ATOMIC_FORCEON</a></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__util__atomic.html#gb075653bf638fae9db049575741d3152">NONATOMIC_RESTORESTATE</a></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__util__atomic.html#gfb959d7d00d2d790b58d0e9880ea255a">NONATOMIC_FORCEOFF</a></td></tr>

</table>

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

<div class="fragment"><pre class="fragment"><span class="preprocessor">    #include &lt;util/atomic.h&gt;</span>

</pre></div><p>

<dl class="note" compact><dt><b>Note:</b></dt><dd>The macros in this header file require the ISO/IEC 9899:1999 ("ISO C99") feature of for loop variables that are declared inside the for loop itself. For that reason, this header file can only be used if the standard level of the compiler (option --std=) is set to either <code>c99</code> or <code>gnu99</code>.</dd></dl>

The macros in this header file deal with code blocks that are guaranteed to be excuted Atomically or Non-Atmomically. The term "Atomic" in this context refers to the unability of the respective code to be interrupted.<p>

These macros operate via automatic manipulation of the Global Interrupt Status (I) bit of the SREG register. Exit paths from both block types are all managed automatically without the need for special considerations, i. e. the interrupt status will be restored to the same value it has been when entering the respective block.<p>

A typical example that requires atomic access is a 16 (or more) bit variable that is shared between the main execution path and an ISR. While declaring such a variable as volatile ensures that the compiler will not optimize accesses to it away, it does not guarantee atomic access to it. Assuming the following example:<p>

<div class="fragment"><pre class="fragment"><span class="preprocessor">#include &lt;inttypes.h&gt;</span>

<span class="preprocessor">#include &lt;avr/interrupt.h&gt;</span>

<span class="preprocessor">#include &lt;avr/io.h&gt;</span>

<span class="keyword">volatile</span> uint16_t ctr;

ISR(TIMER1_OVF_vect)

{

  ctr--;

}

...

int

main(<span class="keywordtype">void</span>)

{

   ...

   ctr = 0x200;

   start_timer();

   <span class="keywordflow">while</span> (ctr != 0)

     <span class="comment">// wait</span>

       ;

   ...

}

</pre></div><p>

There is a chance where the main context will exit its wait loop when the variable <code>ctr</code> just reached the value 0xFF. This happens because the compiler cannot natively access a 16-bit variable atomically in an 8-bit CPU. So the variable is for example at 0x100, the compiler then tests the low byte for 0, which succeeds. It then proceeds to test the high byte, but that moment the ISR triggers, and the main context is interrupted. The ISR will decrement the variable from 0x100 to 0xFF, and the main context proceeds. It now tests the high byte of the variable which is (now) also 0, so it concludes the variable has reached 0, and terminates the loop.<p>

Using the macros from this header file, the above code can be rewritten like:<p>

<div class="fragment"><pre class="fragment"><span class="preprocessor">#include &lt;inttypes.h&gt;</span>

<span class="preprocessor">#include &lt;avr/interrupt.h&gt;</span>

<span class="preprocessor">#include &lt;avr/io.h&gt;</span>

<span class="preprocessor">#include &lt;util/atomic.h&gt;</span>

<span class="keyword">volatile</span> uint16_t ctr;

ISR(TIMER1_OVF_vect)

{

  ctr--;

}

...

int

main(<span class="keywordtype">void</span>)

{

   ...

   ctr = 0x200;

   start_timer();

   sei();

   uint16_t ctr_copy;

   <span class="keywordflow">do</span>

   {

     <a class="code" href="group__util__atomic.html#gaaea265b31dabcfb3098bec7685c39e4">ATOMIC_BLOCK</a>(<a class="code" href="group__util__atomic.html#g92b11103b4b3b000a3190f0d26ba7062">ATOMIC_FORCEON</a>)

     {

       ctr_copy = ctr;

     }

   }

   <span class="keywordflow">while</span> (ctr_copy != 0);

   ...

}

</pre></div><p>

This will install the appropriate interrupt protection before accessing variable <code>ctr</code>, so it is guaranteed to be consistently tested. If the global interrupt state were uncertain before entering the ATOMIC_BLOCK, it should be executed with the parameter ATOMIC_RESTORESTATE rather than ATOMIC_FORCEON. <hr><h2>Define Documentation</h2>

<a class="anchor" name="gaaea265b31dabcfb3098bec7685c39e4"></a><!-- doxytag: member="atomic.h::ATOMIC_BLOCK" ref="gaaea265b31dabcfb3098bec7685c39e4" args="(type)" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">#define ATOMIC_BLOCK          </td>

          <td>(</td>

          <td class="paramtype">type&nbsp;</td>

          <td class="paramname">          </td>

          <td>&nbsp;)&nbsp;</td>

          <td width="100%"></td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

<b>Value:</b><div class="fragment"><pre class="fragment"><span class="keywordflow">for</span> ( type, __ToDo = __iCliRetVal(); \

                               __ToDo ; __ToDo = 0 )

</pre></div>Creates a block of code that is guaranteed to be executed atomically. Upon entering the block the Global Interrupt Status flag in SREG is disabled, and re-enabled upon exiting the block from any exit path.<p>

Two possible macro parameters are permitted, ATOMIC_RESTORESTATE and ATOMIC_FORCEON. 

</div>

</div><p>

<a class="anchor" name="g92b11103b4b3b000a3190f0d26ba7062"></a><!-- doxytag: member="atomic.h::ATOMIC_FORCEON" ref="g92b11103b4b3b000a3190f0d26ba7062" args="" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">#define ATOMIC_FORCEON          </td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

<b>Value:</b><div class="fragment"><pre class="fragment">uint8_t sreg_save \

        __attribute__((__cleanup__(__iSeiParam))) = 0

</pre></div>This is a possible parameter for ATOMIC_BLOCK. When used, it will cause the ATOMIC_BLOCK to force the state of the SREG register on exit, enabling the Global Interrupt Status flag bit. This saves on flash space as the previous value of the SREG register does not need to be saved at the start of the block.<p>

Care should be taken that ATOMIC_FORCEON is only used when it is known that interrupts are enabled before the block's execution or when the side effects of enabling global interrupts at the block's completion are known and understood. 

</div>

</div><p>

<a class="anchor" name="g362c18b15a09703e42e1c246c47420ef"></a><!-- doxytag: member="atomic.h::ATOMIC_RESTORESTATE" ref="g362c18b15a09703e42e1c246c47420ef" args="" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">#define ATOMIC_RESTORESTATE          </td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

<b>Value:</b><div class="fragment"><pre class="fragment">uint8_t sreg_save \

        __attribute__((__cleanup__(__iRestore))) = SREG

</pre></div>This is a possible parameter for ATOMIC_BLOCK. When used, it will cause the ATOMIC_BLOCK to restore the previous state of the SREG register, saved before the Global Interrupt Status flag bit was disabled. The net effect of this is to make the ATOMIC_BLOCK's contents guaranteed atomic, without changing the state of the Global Interrupt Status flag when execution of the block completes. 

</div>

</div><p>

<a class="anchor" name="g6e195ee2117559a25f77fbba9054674a"></a><!-- doxytag: member="atomic.h::NONATOMIC_BLOCK" ref="g6e195ee2117559a25f77fbba9054674a" args="(type)" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">#define NONATOMIC_BLOCK          </td>

          <td>(</td>

          <td class="paramtype">type&nbsp;</td>

          <td class="paramname">          </td>

          <td>&nbsp;)&nbsp;</td>

          <td width="100%"></td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

<b>Value:</b><div class="fragment"><pre class="fragment"><span class="keywordflow">for</span> ( type, __ToDo = __iSeiRetVal(); \

                                  __ToDo ;  __ToDo = 0 )

</pre></div>Creates a block of code that is executed non-atomically. Upon entering the block the Global Interrupt Status flag in SREG is enabled, and disabled upon exiting the block from any exit path. This is useful when nested inside ATOMIC_BLOCK sections, allowing for non-atomic execution of small blocks of code while maintaining the atomic access of the other sections of the parent ATOMIC_BLOCK.<p>

Two possible macro parameters are permitted, NONATOMIC_RESTORESTATE and NONATOMIC_FORCEOFF. 

</div>

</div><p>

<a class="anchor" name="gfb959d7d00d2d790b58d0e9880ea255a"></a><!-- doxytag: member="atomic.h::NONATOMIC_FORCEOFF" ref="gfb959d7d00d2d790b58d0e9880ea255a" args="" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">#define NONATOMIC_FORCEOFF          </td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

<b>Value:</b><div class="fragment"><pre class="fragment">uint8_t sreg_save \

        __attribute__((__cleanup__(__iCliParam))) = 0

</pre></div>This is a possible parameter for NONATOMIC_BLOCK. When used, it will cause the NONATOMIC_BLOCK to force the state of the SREG register on exit, disabling the Global Interrupt Status flag bit. This saves on flash space as the previous value of the SREG register does not need to be saved at the start of the block.<p>

Care should be taken that NONATOMIC_FORCEOFF is only used when it is known that interrupts are disabled before the block's execution or when the side effects of disabling global interrupts at the block's completion are known and understood. 

</div>

</div><p>

<a class="anchor" name="gb075653bf638fae9db049575741d3152"></a><!-- doxytag: member="atomic.h::NONATOMIC_RESTORESTATE" ref="gb075653bf638fae9db049575741d3152" args="" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">#define NONATOMIC_RESTORESTATE          </td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

<b>Value:</b><div class="fragment"><pre class="fragment">uint8_t sreg_save \

        __attribute__((__cleanup__(__iRestore))) = SREG

</pre></div>This is a possible parameter for NONATOMIC_BLOCK. When used, it will cause the NONATOMIC_BLOCK to restore the previous state of the SREG register, saved before the Global Interrupt Status flag bit was enabled. The net effect of this is to make the NONATOMIC_BLOCK's contents guaranteed non-atomic, without changing the state of the Global Interrupt Status flag when execution of the block completes. 

</div>

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<h1>eeprom.h File Reference</h1>handles eeprom storage for persistent data <a href="#_details">More...</a>

<p>

<code>#include &lt;<a class="el" href="bom_8h-source.html">bom.h</a>&gt;</code><br>

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<tr><td></td></tr>

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

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="44e05e0de5d78546c63718c7d8773a9a"></a><!-- doxytag: member="eeprom.h::EEPROM_ROBOT_ID_ADDR" ref="44e05e0de5d78546c63718c7d8773a9a" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>EEPROM_ROBOT_ID_ADDR</b>&nbsp;&nbsp;&nbsp;0x10</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ea8a316eb9414e62e8b2c1434ab57661"></a><!-- doxytag: member="eeprom.h::EEPROM_BOM_TYPE_ADDR" ref="ea8a316eb9414e62e8b2c1434ab57661" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>EEPROM_BOM_TYPE_ADDR</b>&nbsp;&nbsp;&nbsp;0x14</td></tr>

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

<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="eeprom_8h.html#4f56f25703c0e313fae3d0d327109082">eeprom_put_byte</a> (unsigned int addr, unsigned char byte)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">store a byte to eeproem  <a href="#4f56f25703c0e313fae3d0d327109082"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="eeprom_8h.html#1235e4e69e3f0114160e69705f38bda1">eeprom_get_byte</a> (unsigned int addr, unsigned char *byte)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">reads a byte from eeprom  <a href="#1235e4e69e3f0114160e69705f38bda1"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned char&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="eeprom_8h.html#bfc8e084d177435cbe1cc30cfedf4327">get_robotid</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">get stored robot ID  <a href="#bfc8e084d177435cbe1cc30cfedf4327"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned char&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="eeprom_8h.html#de3f83da05149edf008cb5fa23fde7df">get_bom_type</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">get stored robot ID  <a href="#de3f83da05149edf008cb5fa23fde7df"></a><br></td></tr>

</table>

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

handles eeprom storage for persistent data 

<p>

Contains functions and definitions for reading and writing to eeprom<p>

<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, Brad Neuman </dd></dl>

<hr><h2>Function Documentation</h2>

<a class="anchor" name="1235e4e69e3f0114160e69705f38bda1"></a><!-- doxytag: member="eeprom.h::eeprom_get_byte" ref="1235e4e69e3f0114160e69705f38bda1" args="(unsigned int addr, unsigned char *byte)" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">int eeprom_get_byte           </td>

          <td>(</td>

          <td class="paramtype">unsigned int&nbsp;</td>

          <td class="paramname"> <em>addr</em>, </td>

        </tr>

        <tr>

          <td class="paramkey"></td>

          <td></td>

          <td class="paramtype">unsigned char *&nbsp;</td>

          <td class="paramname"> <em>byte</em></td><td>&nbsp;</td>

        </tr>

        <tr>

          <td></td>

          <td>)</td>

          <td></td><td></td><td width="100%"></td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

reads a byte from eeprom 

<p>

Pass it thge address and a pointer to a byte where the byte at the address will be stored<p>

<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if successful (byte is set to the eeprom value at addr), nonzero if there was a problem </dd></dl>

</div>

</div><p>

<a class="anchor" name="4f56f25703c0e313fae3d0d327109082"></a><!-- doxytag: member="eeprom.h::eeprom_put_byte" ref="4f56f25703c0e313fae3d0d327109082" args="(unsigned int addr, unsigned char byte)" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">int eeprom_put_byte           </td>

          <td>(</td>

          <td class="paramtype">unsigned int&nbsp;</td>

          <td class="paramname"> <em>addr</em>, </td>

        </tr>

        <tr>

          <td class="paramkey"></td>

          <td></td>

          <td class="paramtype">unsigned char&nbsp;</td>

          <td class="paramname"> <em>byte</em></td><td>&nbsp;</td>

        </tr>

        <tr>

          <td></td>

          <td>)</td>

          <td></td><td></td><td width="100%"></td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

store a byte to eeproem 

<p>

<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if success, nonzero on failure </dd></dl>

</div>

</div><p>

<a class="anchor" name="de3f83da05149edf008cb5fa23fde7df"></a><!-- doxytag: member="eeprom.h::get_bom_type" ref="de3f83da05149edf008cb5fa23fde7df" args="(void)" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">unsigned char get_bom_type           </td>

          <td>(</td>

          <td class="paramtype">void&nbsp;</td>

          <td class="paramname">          </td>

          <td>&nbsp;)&nbsp;</td>

          <td width="100%"></td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

get stored robot ID 

<p>

checks that EEPROM has been programed with an BOM type and returns it<p>

<dl class="return" compact><dt><b>Returns:</b></dt><dd>the robot bom type as defined in <a class="el" href="bom_8h.html" title="Definitions for using the BOM.">bom.h</a>, if it is stored. If it returns 0xFF it is probably invalid </dd></dl>

</div>

</div><p>

<a class="anchor" name="bfc8e084d177435cbe1cc30cfedf4327"></a><!-- doxytag: member="eeprom.h::get_robotid" ref="bfc8e084d177435cbe1cc30cfedf4327" args="(void)" -->

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">unsigned char get_robotid           </td>

          <td>(</td>

          <td class="paramtype">void&nbsp;</td>

          <td class="paramname">          </td>

          <td>&nbsp;)&nbsp;</td>

          <td width="100%"></td>

        </tr>

      </table>

</div>

<div class="memdoc">

<p>

get stored robot ID 

<p>

checks that EEPROM has been programed with an ID and returns it<p>

<dl class="return" compact><dt><b>Returns:</b></dt><dd>the robot id, if it is stored. If it returns 0xFF it is probably invalid </dd></dl>

</div>

</div><p>

</div>

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<hr size="1"><address style="text-align: right;"><small>Generated on Wed Sep 2 23:20:09 2009 for libdragonfly by&nbsp;

<hr size="1"><address style="text-align: right;"><small>Generated on Wed Sep 2 23:20:08 2009 for libdragonfly by&nbsp;

<hr size="1"><address style="text-align: right;"><small>Generated on Wed Sep 2 23:20:08 2009 for libdragonfly by&nbsp;

<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">

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<title>libdragonfly: odometry.h File Reference</title>

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<h1>odometry.h File Reference</h1>Code for estimating the robots pose. <a href="#_details">More...</a>

<p>

<p>

<a href="odometry_8h-source.html">Go to the source code of this file.</a><table border="0" cellpadding="0" cellspacing="0">

<tr><td></td></tr>

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

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gea4914268d0abe55b9caafac537bc263"></a><!-- doxytag: member="odometry.h::ODOMETRY_CLK" ref="gea4914268d0abe55b9caafac537bc263" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>ODOMETRY_CLK</b>&nbsp;&nbsp;&nbsp;255u</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g3104e6ab77c71296e6879fc57af26e8e"></a><!-- doxytag: member="odometry.h::TIME_SCALE" ref="g3104e6ab77c71296e6879fc57af26e8e" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>TIME_SCALE</b>&nbsp;&nbsp;&nbsp;64</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gc7a3a8ed9add07ef101e2265dc954b63"></a><!-- doxytag: member="odometry.h::ROBOT_WIDTH_UM" ref="gc7a3a8ed9add07ef101e2265dc954b63" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>ROBOT_WIDTH_UM</b>&nbsp;&nbsp;&nbsp;137000</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gcf7c58b37a2d5cb3793a4f94c2fd1ab0"></a><!-- doxytag: member="odometry.h::CLICK_DISTANCE_UM" ref="gcf7c58b37a2d5cb3793a4f94c2fd1ab0" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>CLICK_DISTANCE_UM</b>&nbsp;&nbsp;&nbsp;204</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g30e5d468b11a21497a943586ed536d81"></a><!-- doxytag: member="odometry.h::DISTANCE_SCALE" ref="g30e5d468b11a21497a943586ed536d81" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>DISTANCE_SCALE</b>&nbsp;&nbsp;&nbsp;2.10526316</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g7618f3a2fe3ffe816299501556cea637"></a><!-- doxytag: member="odometry.h::ANGLE_SCALE" ref="g7618f3a2fe3ffe816299501556cea637" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>ANGLE_SCALE</b>&nbsp;&nbsp;&nbsp;1.12823207</td></tr>

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

<tr><td class="memItemLeft" nowrap align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g31c085285b8a8c5049123640e228741a">odometry_dx</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrieve the robots estimated x position.  <a href="group__odometry.html#g31c085285b8a8c5049123640e228741a"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g52bee31a0838e0a782758c90e4fa35df">odometry_dy</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrieve the robots estimated y position.  <a href="group__odometry.html#g52bee31a0838e0a782758c90e4fa35df"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g85a0a0b11d2adf53e2f88a836080d1f4">odometry_angle</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrieve the robots estimated orientation.  <a href="group__odometry.html#g85a0a0b11d2adf53e2f88a836080d1f4"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g9ccb8b57330f6769afa0f68be3a6d564">odometry_init</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize odometry. MUST be called before the other functions work.  <a href="group__odometry.html#g9ccb8b57330f6769afa0f68be3a6d564"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g778f4744dfbdb1923b51cc43f0e9ff37">odometry_reset</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset position and orientation to the origin facing the x axis.  <a href="group__odometry.html#g778f4744dfbdb1923b51cc43f0e9ff37"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gc958e4b80d89acf8b61a140b49353ff7"></a><!-- doxytag: member="odometry.h::odometry_velocity" ref="gc958e4b80d89acf8b61a140b49353ff7" args="(void)" -->

long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#gc958e4b80d89acf8b61a140b49353ff7">odometry_velocity</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Report estimated velocity [mm/s]. <br></td></tr>

</table>

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

Code for estimating the robots pose. 

<p>

Offers simple position and orientation information.<p>

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

</div>

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<h1>encoders.h File Reference</h1>Contains functions for reading encoder values. <a href="#_details">More...</a>

<p>

<p>

<a href="encoders_8h-source.html">Go to the source code of this file.</a><table border="0" cellpadding="0" cellspacing="0">

<tr><td></td></tr>

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

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g437ef08681e7210d6678427030446a54"></a><!-- doxytag: member="encoders.h::LEFT" ref="g437ef08681e7210d6678427030446a54" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g437ef08681e7210d6678427030446a54">LEFT</a>&nbsp;&nbsp;&nbsp;0</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Left wheel. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g80fb826a684cf3f0d306b22aa100ddac"></a><!-- doxytag: member="encoders.h::RIGHT" ref="g80fb826a684cf3f0d306b22aa100ddac" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g80fb826a684cf3f0d306b22aa100ddac">RIGHT</a>&nbsp;&nbsp;&nbsp;1</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Right wheel. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ga7c882763d1877f0000be3e73f93d08a"></a><!-- doxytag: member="encoders.h::ENCODER_MAGNET_FAILURE" ref="ga7c882763d1877f0000be3e73f93d08a" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#ga7c882763d1877f0000be3e73f93d08a">ENCODER_MAGNET_FAILURE</a>&nbsp;&nbsp;&nbsp;1025</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Magnet misaligned - likely distance from encoder problem. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g461113043ab113b6dc7d56619a1a15f4"></a><!-- doxytag: member="encoders.h::ENCODER_MISALIGNED" ref="g461113043ab113b6dc7d56619a1a15f4" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g461113043ab113b6dc7d56619a1a15f4">ENCODER_MISALIGNED</a>&nbsp;&nbsp;&nbsp;1027</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Encoder misaligned - likely on XY plane. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g0a5cb25278a57b19a46264d134033f7b"></a><!-- doxytag: member="encoders.h::ENCODER_DATA_NOT_READY" ref="g0a5cb25278a57b19a46264d134033f7b" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g0a5cb25278a57b19a46264d134033f7b">ENCODER_DATA_NOT_READY</a>&nbsp;&nbsp;&nbsp;1026</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Not enough time has passed - encoders not initialized in hardware. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g5ff35c79ce306ac5c3580b96dea4e653"></a><!-- doxytag: member="encoders.h::ENCODER_DELAY" ref="g5ff35c79ce306ac5c3580b96dea4e653" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g5ff35c79ce306ac5c3580b96dea4e653">ENCODER_DELAY</a>&nbsp;&nbsp;&nbsp;20</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">delay_ms argument after a full read is complete <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g9173b4a556a38fffd9336138830ebfa0"></a><!-- doxytag: member="encoders.h::OCF" ref="g9173b4a556a38fffd9336138830ebfa0" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>OCF</b>&nbsp;&nbsp;&nbsp;_BV(4)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gdfb416b9855f4d6cc2153044a681509e"></a><!-- doxytag: member="encoders.h::COF" ref="gdfb416b9855f4d6cc2153044a681509e" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>COF</b>&nbsp;&nbsp;&nbsp;_BV(3)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gfbb57dfc13455b39716c3bb5c55eaa06"></a><!-- doxytag: member="encoders.h::LIN" ref="gfbb57dfc13455b39716c3bb5c55eaa06" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>LIN</b>&nbsp;&nbsp;&nbsp;_BV(2)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gdc67b4ce01de99b63b3639f03c03a05b"></a><!-- doxytag: member="encoders.h::MagINCn" ref="gdc67b4ce01de99b63b3639f03c03a05b" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>MagINCn</b>&nbsp;&nbsp;&nbsp;_BV(1)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gdc7fd147cd970830e275f0ed9ebff00a"></a><!-- doxytag: member="encoders.h::MagDECn" ref="gdc7fd147cd970830e275f0ed9ebff00a" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>MagDECn</b>&nbsp;&nbsp;&nbsp;_BV(0)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g6b20d41d6252e9871430c242cb1a56e7"></a><!-- doxytag: member="encoders.h::BUFFER_SIZE" ref="g6b20d41d6252e9871430c242cb1a56e7" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g6b20d41d6252e9871430c242cb1a56e7">BUFFER_SIZE</a>&nbsp;&nbsp;&nbsp;23</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Buffer size. <br></td></tr>

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

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gf02e2149caeb6116f256783348031c86"></a><!-- doxytag: member="encoders.h::encoders_init" ref="gf02e2149caeb6116f256783348031c86" args="(void)" -->

void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#gf02e2149caeb6116f256783348031c86">encoders_init</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize encoders. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g9abc8e86fe64bcf4c3862ed12d913530">encoder_read</a> (char encoder)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Read instantaneous encoder value.  <a href="group__encoders.html#g9abc8e86fe64bcf4c3862ed12d913530"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#gd73643bd46dbc459cc0dfa8dd90b4992">encoder_get_dx</a> (char encoder)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get total distance traveled.  <a href="group__encoders.html#gd73643bd46dbc459cc0dfa8dd90b4992"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g7bef9844241df2154df77d10e5bf47c4">encoder_rst_dx</a> (char encoder)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset distance counter.  <a href="group__encoders.html#g7bef9844241df2154df77d10e5bf47c4"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g8ad080c3e41790edd7e7ccbc91060fec">encoder_get_tc</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get time count: The number of encoder reads that have occurred.  <a href="group__encoders.html#g8ad080c3e41790edd7e7ccbc91060fec"></a><br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ga410e62db3c6fdc317130a8d5a238655"></a><!-- doxytag: member="encoders.h::encoder_rst_tc" ref="ga410e62db3c6fdc317130a8d5a238655" args="(void)" -->

void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#ga410e62db3c6fdc317130a8d5a238655">encoder_rst_tc</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset the time count. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#gd89387a19e48bee58885735099eabeed">encoder_wait</a> (int nReadings)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Waits for the next n encoder reading, then returns.  <a href="group__encoders.html#gd89387a19e48bee58885735099eabeed"></a><br></td></tr>

</table>

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

Contains functions for reading encoder values. 

<p>

Contains high and low level functions for reading encoders including reading out total distance covered, and eventually velocity.<p>

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

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<title>libdragonfly: encoders.h Source File</title>

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<h1>encoders.h</h1><a href="encoders_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 

<a name="l00018"></a>00018 <span class="preprocessor">#ifndef __ENCODERS_H__</span>

<a name="l00019"></a>00019 <span class="preprocessor"></span><span class="preprocessor">#define __ENCODERS_H__</span>

<a name="l00020"></a>00020 <span class="preprocessor"></span>

<a name="l00021"></a>00021 

<a name="l00022"></a>00022 <span class="preprocessor">#ifndef LEFT</span>

<a name="l00023"></a>00023 <span class="preprocessor"></span>

<a name="l00024"></a><a class="code" href="group__encoders.html#g437ef08681e7210d6678427030446a54">00024</a> <span class="preprocessor">        #define LEFT 0</span>

<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#endif</span>

<a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#ifndef RIGHT</span>

<a name="l00027"></a>00027 <span class="preprocessor"></span>

<a name="l00028"></a><a class="code" href="group__encoders.html#g80fb826a684cf3f0d306b22aa100ddac">00028</a> <span class="preprocessor">        #define RIGHT 1</span>

<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#endif</span>

<a name="l00030"></a>00030 <span class="preprocessor"></span>

<a name="l00032"></a><a class="code" href="group__encoders.html#ga7c882763d1877f0000be3e73f93d08a">00032</a> <span class="preprocessor">#define ENCODER_MAGNET_FAILURE 1025</span>

<a name="l00033"></a>00033 <span class="preprocessor"></span>

<a name="l00034"></a><a class="code" href="group__encoders.html#g461113043ab113b6dc7d56619a1a15f4">00034</a> <span class="preprocessor">#define ENCODER_MISALIGNED 1027</span>

<a name="l00035"></a>00035 <span class="preprocessor"></span>

<a name="l00036"></a><a class="code" href="group__encoders.html#g0a5cb25278a57b19a46264d134033f7b">00036</a> <span class="preprocessor">#define ENCODER_DATA_NOT_READY 1026</span>

<a name="l00037"></a>00037 <span class="preprocessor"></span>

<a name="l00039"></a><a class="code" href="group__encoders.html#g5ff35c79ce306ac5c3580b96dea4e653">00039</a> <span class="preprocessor">#define ENCODER_DELAY 20</span>

<a name="l00040"></a>00040 <span class="preprocessor"></span>

<a name="l00041"></a>00041 <span class="comment">//Data invalid flags (hardware failure):</span>

<a name="l00042"></a>00042 <span class="preprocessor">#define OCF _BV(4)</span>

<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#define COF _BV(3)</span>

<a name="l00044"></a>00044 <span class="preprocessor"></span>

<a name="l00045"></a>00045 <span class="comment">//Data invalid alarm (May be invalid):</span>

<a name="l00046"></a>00046 <span class="preprocessor">#define LIN _BV(2)</span>

<a name="l00047"></a>00047 <span class="preprocessor"></span>

<a name="l00048"></a>00048 <span class="preprocessor">#define MagINCn _BV(1)</span>

<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">#define MagDECn _BV(0)</span>

<a name="l00050"></a>00050 <span class="preprocessor"></span>

<a name="l00052"></a><a class="code" href="group__encoders.html#g6b20d41d6252e9871430c242cb1a56e7">00052</a> <span class="preprocessor">#define BUFFER_SIZE 23</span>

<a name="l00053"></a>00053 <span class="preprocessor"></span>

<a name="l00055"></a>00055 <span class="keywordtype">void</span> <a class="code" href="group__encoders.html#gf02e2149caeb6116f256783348031c86" title="Initializes encoder variables and the hardware interface.">encoders_init</a>(<span class="keywordtype">void</span>);

<a name="l00057"></a>00057 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#g9abc8e86fe64bcf4c3862ed12d913530" title="Returns the specified encoders value.">encoder_read</a>(<span class="keywordtype">char</span> encoder);

<a name="l00058"></a>00058 

<a name="l00060"></a>00060 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#gd73643bd46dbc459cc0dfa8dd90b4992" title="Get total distance traveled.">encoder_get_dx</a>(<span class="keywordtype">char</span> encoder);

<a name="l00062"></a>00062 <span class="keywordtype">void</span> <a class="code" href="group__encoders.html#g7bef9844241df2154df77d10e5bf47c4" title="Reset distance counter.">encoder_rst_dx</a>(<span class="keywordtype">char</span> encoder);

<a name="l00064"></a>00064 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#g8ad080c3e41790edd7e7ccbc91060fec" title="Returns the number of encoder reads that have occurred.">encoder_get_tc</a>(<span class="keywordtype">void</span>);

<a name="l00066"></a>00066 <span class="keywordtype">void</span> <a class="code" href="group__encoders.html#ga410e62db3c6fdc317130a8d5a238655" title="Resets the encoder read counter.">encoder_rst_tc</a>(<span class="keywordtype">void</span>);

<a name="l00067"></a>00067 

<a name="l00069"></a>00069 <span class="keywordtype">void</span> <a class="code" href="group__encoders.html#gd89387a19e48bee58885735099eabeed" title="Waits until n encoder reads have occurred. Counter is reset on functions exit.">encoder_wait</a>( <span class="keywordtype">int</span> nReadings );

<a name="l00070"></a>00070  <span class="comment">//end group</span>

<a name="l00072"></a>00072 

<a name="l00073"></a>00073 <span class="preprocessor">#endif</span>

</pre></div></div>

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<title>libdragonfly: odometry.h Source File</title>

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<h1>odometry.h</h1><a href="odometry_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 

<a name="l00011"></a>00011 <span class="preprocessor">#ifndef __ODOMETRY_C__</span>

<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define __ODOMETRY_C__</span>

<a name="l00013"></a>00013 <span class="preprocessor"></span>

<a name="l00019"></a>00019 <span class="comment">//Odometry resolution, *64 microseconds.</span>

<a name="l00020"></a>00020 <span class="preprocessor">#define ODOMETRY_CLK 255u </span>

<a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor">#define TIME_SCALE 64</span>

<a name="l00022"></a>00022 <span class="preprocessor"></span>

<a name="l00023"></a>00023 <span class="comment">//Wheel = 2.613 in.  </span>

<a name="l00024"></a>00024 <span class="comment">//Circumference = 208.508133 mm</span>

<a name="l00025"></a>00025 <span class="comment">//Distance per encoder click (circumference / 1024)  = 203.621224 um.</span>

<a name="l00026"></a>00026 <span class="comment">//Robot width = 5.3745 in. = 136.5123 mm</span>

<a name="l00027"></a>00027 

<a name="l00028"></a>00028 <span class="preprocessor">#define ROBOT_WIDTH_UM 137000  //um</span>

<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CLICK_DISTANCE_UM 204 //um</span>

<a name="l00030"></a>00030 <span class="preprocessor"></span>

<a name="l00031"></a>00031 <span class="preprocessor">#define DISTANCE_SCALE 2.10526316 //Magic constant.</span>

<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define ANGLE_SCALE 1.12823207 //Magic constant.</span>

<a name="l00033"></a>00033 <span class="preprocessor"></span>

<a name="l00035"></a>00035 <span class="keywordtype">long</span> <a class="code" href="group__odometry.html#g31c085285b8a8c5049123640e228741a" title="Retrieve the robots estimated x position.">odometry_dx</a>(<span class="keywordtype">void</span>);

<a name="l00036"></a>00036 

<a name="l00038"></a>00038 <span class="keywordtype">long</span> <a class="code" href="group__odometry.html#g52bee31a0838e0a782758c90e4fa35df" title="Retrieve the robots estimated y position.">odometry_dy</a>(<span class="keywordtype">void</span>);

<a name="l00039"></a>00039 

<a name="l00041"></a>00041 <span class="keywordtype">double</span> <a class="code" href="group__odometry.html#g85a0a0b11d2adf53e2f88a836080d1f4" title="Retrieve the robots estimated orientation.">odometry_angle</a>(<span class="keywordtype">void</span>);

<a name="l00042"></a>00042 

<a name="l00045"></a>00045 <span class="keywordtype">void</span> <a class="code" href="group__odometry.html#g9ccb8b57330f6769afa0f68be3a6d564" title="Initialize odometry. MUST be called before the other functions work.">odometry_init</a>(<span class="keywordtype">void</span>);

<a name="l00046"></a>00046 

<a name="l00049"></a>00049 <span class="keywordtype">void</span> <a class="code" href="group__odometry.html#g778f4744dfbdb1923b51cc43f0e9ff37" title="Reset position and orientation to the origin facing the x axis.">odometry_reset</a>(<span class="keywordtype">void</span>);

<a name="l00050"></a>00050 

<a name="l00052"></a>00052 <span class="keywordtype">long</span> <a class="code" href="group__odometry.html#gc958e4b80d89acf8b61a140b49353ff7" title="Report estimated velocity [mm/s].">odometry_velocity</a>(<span class="keywordtype">void</span>);

<a name="l00053"></a>00053  <span class="comment">//end group</span>

<a name="l00055"></a>00055 

<a name="l00056"></a>00056 <span class="preprocessor">#endif</span>

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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__usb.html#g774d8b902cae279696c53502168ade07">usb_puts_P</a> (PGM_P s)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Print a string from program space to USB.  <a href="#g774d8b902cae279696c53502168ade07"></a><br></td></tr>

<p>Referenced by <a class="el" href="serial_8c-source.html#l00328">usb_puth16()</a>, and <a class="el" href="serial_8c-source.html#l00345">usb_puth8()</a>.</p>

<p>Referenced by <a class="el" href="serial_8c-source.html#l00055">usb_init()</a>.</p>

<p>References <a class="el" href="serial_8c-source.html#l00043">usb_fd</a>, <a class="el" href="serial_8c-source.html#l00188">usb_getc()</a>, and <a class="el" href="serial_8c-source.html#l00124">usb_putc()</a>.</p>

<p>Referenced by <a class="el" href="serial_8c-source.html#l00055">usb_init()</a>, <a class="el" href="serial_8c-source.html#l00328">usb_puth16()</a>, <a class="el" href="serial_8c-source.html#l00345">usb_puth8()</a>, <a class="el" href="serial_8c-source.html#l00279">usb_puti()</a>, <a class="el" href="serial_8c-source.html#l00154">usb_puts()</a>, and <a class="el" href="serial_8c-source.html#l00168">usb_puts_P()</a>.</p>