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<title>libdragonfly: 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">void </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"> </td><td class="mdescRight">Initialize the bom according to bom type. <a href="#g101f932380b02b48a0ca3d20ffc8c08f"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void </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"> </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="#gbdcdf3a1428f8145ee5eed82efdaf0fc"></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">void </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"> </td><td class="mdescRight">Enables the selected bom leds on a BOM1.5. <a href="#g8e42fe2740ecc49e7c057e9d7df9c9eb"></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. <a href="#g86753fe7440cd64e60c58ad31c62264a"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void </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"> </td><td class="mdescRight">Turns on all BOM leds, or turns on enabled leds on a BOM1.5. <a href="#g93b665ff81fc6b58503c6ba5ba01c1bf"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void </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"> </td><td class="mdescRight">Turns off all bom leds. <a href="#g61a66e53cdee8bce139c707153143b30"></a><br></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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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 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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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the bom value</dd></dl> |
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see bom_refresh |
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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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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="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 </dd></dl> |
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<p>Referenced by <a class="el" href="bom_8c_source.html#l00268">get_max_bom()</a>.</p> |
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</div><p> |
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<a class="anchor" name="g101f932380b02b48a0ca3d20ffc8c08f"></a><!-- doxytag: member="bom.c::bom_init" ref="g101f932380b02b48a0ca3d20ffc8c08f" args="(char type)" --> |
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<td class="memname">void bom_init </td> |
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<td>(</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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<td> ) </td> |
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<td></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="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#gbdcdf3a1428f8145ee5eed82efdaf0fc" 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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<p>References <a class="el" href="bom_8h_source.html#l00050">BOM10</a>, <a class="el" href="bom_8h_source.html#l00053">BOM15</a>, <a class="el" href="bom_8h_source.html#l00047">BOM_ALL</a>, <a class="el" href="bom_8c_source.html#l00228">bom_set_leds()</a>, <a class="el" href="dio_8c_source.html#l00162">digital_output()</a>, and <a class="el" href="bom_8h_source.html#l00056">RBOM</a>.</p> |
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<p>Referenced by <a class="el" href="dragonfly__lib_8c_source.html#l00068">dragonfly_init()</a>.</p> |
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</div><p> |
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<a class="anchor" name="g61a66e53cdee8bce139c707153143b30"></a><!-- doxytag: member="bom.c::bom_off" ref="g61a66e53cdee8bce139c707153143b30" args="(void)" --> |
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<td class="memname">void 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="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#g93b665ff81fc6b58503c6ba5ba01c1bf" title="Turns on all BOM leds, or turns on enabled leds on a BOM1.5.">bom_on</a> </dd></dl> |
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<p>References <a class="el" href="bom_8h_source.html#l00050">BOM10</a>, <a class="el" href="bom_8h_source.html#l00053">BOM15</a>, <a class="el" href="dio_8c_source.html#l00162">digital_output()</a>, and <a class="el" href="bom_8h_source.html#l00056">RBOM</a>.</p> |
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<a class="anchor" name="g93b665ff81fc6b58503c6ba5ba01c1bf"></a><!-- doxytag: member="bom.c::bom_on" ref="g93b665ff81fc6b58503c6ba5ba01c1bf" args="(void)" --> |
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<td class="memname">void 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="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#g61a66e53cdee8bce139c707153143b30" title="Turns off all bom leds.">bom_off</a>, <a class="el" href="group__bom.html#g8e42fe2740ecc49e7c057e9d7df9c9eb" title="Enables the selected bom leds on a BOM1.5.">bom_set_leds</a> </dd></dl> |
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<p>References <a class="el" href="bom_8h_source.html#l00050">BOM10</a>, <a class="el" href="bom_8h_source.html#l00053">BOM15</a>, <a class="el" href="dio_8c_source.html#l00162">digital_output()</a>, and <a class="el" href="bom_8h_source.html#l00056">RBOM</a>.</p> |
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<a class="anchor" name="gbdcdf3a1428f8145ee5eed82efdaf0fc"></a><!-- doxytag: member="bom.c::bom_refresh" ref="gbdcdf3a1428f8145ee5eed82efdaf0fc" args="(int bit_field)" --> |
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<td class="memname">void 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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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.<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 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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<p>References <a class="el" href="analog_8c_source.html#l00195">analog_get8()</a>, <a class="el" href="analog_8c_source.html#l00160">analog_start_loop()</a>, and <a class="el" href="analog_8c_source.html#l00174">analog_stop_loop()</a>.</p> |
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<p>Referenced by <a class="el" href="bom_8c_source.html#l00268">get_max_bom()</a>.</p> |
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<a class="anchor" name="g8e42fe2740ecc49e7c057e9d7df9c9eb"></a><!-- doxytag: member="bom.c::bom_set_leds" ref="g8e42fe2740ecc49e7c057e9d7df9c9eb" args="(int bit_field)" --> |
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<td class="memname">void bom_set_leds </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#g93b665ff81fc6b58503c6ba5ba01c1bf" 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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</table>
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<p>References <a class="el" href="bom_8h_source.html#l00050">BOM10</a>, <a class="el" href="bom_8h_source.html#l00053">BOM15</a>, <a class="el" href="dio_8c_source.html#l00162">digital_output()</a>, and <a class="el" href="bom_8h_source.html#l00056">RBOM</a>.</p> |
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<p>Referenced by <a class="el" href="bom_8c_source.html#l00130">bom_init()</a>.</p> |
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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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<td>(</td> |
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<td class="paramtype">void </td> |
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(DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element. |
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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#g4be2ba5e4db17e5be950af682f9ad522" title="Initialize analog ports. Will start running a loop if start_conversion is ADC_START...">analog_init</a> </dd></dl> |
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<p>References <a class="el" href="bom_8h_source.html#l00047">BOM_ALL</a>, <a class="el" href="bom_8c_source.html#l00203">bom_get_max()</a>, and <a class="el" href="bom_8c_source.html#l00168">bom_refresh()</a>.</p> |
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<hr size="1"><address style="text-align: right;"><small>Generated on Mon Sep 7 19:07:28 2009 for libdragonfly 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> 1.5.9 </small></address> |
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