Revision 1527
Copied code folder from the trunk into the bom_refractor branch.
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file bom.h |
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* @brief Definitions for using the BOM |
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* |
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* This file contains definitions for using the Bearing and |
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* Orientation Module (BOM). |
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* |
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* @author Colony Project, CMU Robotics Club |
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* |
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**/ |
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#ifndef _BOM_H |
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#define _BOM_H |
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/** |
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* @addtogroup bom |
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* @{ |
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**/ |
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/** @brief Include all elements in the 16-bit bitfield **/ |
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#define BOM_ALL 0xFFFF |
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/** @brief Original BOM - No Range, No Individual LED control **/ |
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#define BOM10 0 |
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/** @brief BOM 1.5 - No Range, Individual LED control **/ |
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#define BOM15 1 |
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/** @brief RBOM - Range, Individual LED control **/ |
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#define RBOM 2 |
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/** @brief Initialize the bom according to bom type **/ |
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void bom_init(char type); |
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/** @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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void bom_refresh(int bit_field); |
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/** @brief Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. **/ |
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int bom_get(int which); |
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/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/ |
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int bom_get_max(void); |
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/** @brief Print snapshot of BOM intensity histogram over USB connection **/ |
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void bom_print_usb(int*); |
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/** @brief Computes the weighted average of all the bom readings to estimate the position and distance of another robot. **/ |
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int bom_get_max10(int *dist); |
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/** @brief Enables the selected bom leds on a BOM1.5 **/ |
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void bom_set_leds(int bit_field); |
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/** @brief (DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element since last refresh. **/ |
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int get_max_bom(void); |
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/** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/ |
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void bom_on(void); |
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/** @brief Turns off all bom leds. **/ |
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void bom_off(void); |
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/** @} **/ |
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#endif |
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