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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.c
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* @brief Implementation for using the BOM
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*
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* Contains functions for using the Bearing and 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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#include "bom.h" |
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#include "dio.h" |
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#include "serial.h" |
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#include "analog.h" |
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//On the original BOM1.0, the emmitter angular order does not match the analog mux order
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//so you need to iterate through the mux index in the following order if you want to get
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//the detector readings in order:
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static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa}; |
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// internal function prototypes
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static void bom_select(char which); |
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/*
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Bk R Y (Analog)
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---------
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Green
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Blue
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White
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---------
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Blue
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White
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*/
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/*
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the analog pin definitions from dio.h DO NOT work here,
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so we must use PF0 from avrgcc (as opposed to _PIN_F0).
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BUT the dio pin definitions from dio.h must be used (no PE...).
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also, _PIN_E2 is initialized to high for some reason,
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which turns the BOM on when the robot is turned on.
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WORK-AROUND: call digital_output(_PIN_E2,0) at some point.
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*/
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#define MONKI PF0 //analog (yellow) |
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//------------------------//
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#define MONKL _PIN_E2 //green |
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#define MONK1 _PIN_E3 //blue |
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#define MONK0 _PIN_E4 //white |
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//------------------------//
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#define MONK3 _PIN_E6 //blue |
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#define MONK2 _PIN_E7 //white |
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#define BOM_VALUE_THRESHOLD 150 //200 |
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#define NUM_BOM_LEDS 16 |
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/*
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*The following pin definitions are for the BOM v1.5
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*/
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#define BOM_MODE _PIN_E2 //dio0 |
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#define BOM_STROBE _PIN_E3 //dio1 |
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#define BOM_DATA _PIN_A0 //servo0 |
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#define BOM_CLOCK _PIN_A1 //servo1 |
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#define BOM_S0 _PIN_E5 //dio3 |
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#define BOM_S1 _PIN_E4 //dio2 |
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#define BOM_S2 _PIN_E7 //dio4 |
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#define BOM_S3 _PIN_E6 //dio5 |
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#define BOM_OUT PF0 //analog(yellow) |
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/**
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* @defgroup bom BOM (Bearing and Orientation Module)
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* @brief Functions for dealing with the BOM.
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*
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* The Bearing and Orientation Module / Barrel of Monkeys / BOM
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* is a custom sensor designed and built by the Colony Project.
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* It consists of a ring of 16 IR emitters and 16 IR detectors.
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* The BOM is most often use to determine the direction of other
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* robots. This module contains functions for controlling the BOM.
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*
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* Include bom.h to access these functions.
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*
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* @{
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**/
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static unsigned int bom_val[NUM_BOM_LEDS]; |
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static volatile char bom_type = BOM10; |
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static int select_pins[4]; |
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static int analog_pin; |
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/**
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* Initializes the BOM.
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* Call bom_init before reading bom values or turning bom leds.
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*
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* @bugs INCOMPLETE - No utilization of BOM1.5 RSSI capability. Probably leave this out
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* until Cornell and Pras return
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*
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* @see bom_refresh, bom_leds_on, bom_leds_off
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**/
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void bom_init(char type) { |
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bom_type = type; |
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switch(bom_type) {
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case BOM10:
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select_pins[0] = MONK0;
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select_pins[1] = MONK1;
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select_pins[2] = MONK2;
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select_pins[3] = MONK3;
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analog_pin = MONKI; |
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break;
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case BOM15:
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//Sets BOM1.5 to normal [BOM] mode
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digital_output(BOM_MODE, 0);
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select_pins[0] = BOM_S0;
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select_pins[1] = BOM_S1;
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select_pins[2] = BOM_S2;
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select_pins[3] = BOM_S3;
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bom_set_leds(BOM_ALL); |
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analog_pin = BOM_OUT; |
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break;
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case RBOM:
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break;
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//default:
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} |
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} |
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/**
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* Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits
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* and updates the corresponding bom value with an analog_get8 reading. analog_init and bom_init
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* must be called for this to work. Must call this before reading BOM values!
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*
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*
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* @param bit_field specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values.
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* Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated.
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*
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* @see bom_get
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**/
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void bom_refresh(int bit_field) { |
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int i;
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int loop_was_running = 0; |
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//Check analog loop status
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if(analog_loop_status() == ADC_LOOP_RUNNING) {
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loop_was_running = 1;
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analog_stop_loop(); |
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} |
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//Read BOM values
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for(i = 0; i < NUM_BOM_LEDS; i++) { |
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if(bit_field & 0x1) { |
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bom_select(i); |
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bom_val[i] = analog_get8(analog_pin); |
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} |
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bit_field = bit_field >> 1;
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} |
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//Restore analog loop status
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if(loop_was_running)
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analog_start_loop(); |
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} |
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/**
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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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*
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* @pre must call bom refresh first
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*
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* @param which which bom value to return
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*
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* @return the bom value
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*
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* see bom_refresh
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**/
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int bom_get(int which) { |
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return bom_val[which];
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} |
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/**
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* Compares all the values in bom_val[] and returns the index to the lowest (max) value element.
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*
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* @pre must call bom refresh
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* @return index to the lowest (max) bom value element. -1 if no value is lower than
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* BOM_VALUE_THRESHOLD
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**/
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int bom_get_max(void) { |
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int i, lowest_val, lowest_i;
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lowest_i = -1;
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lowest_val = 255;
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for(i = 0; i < NUM_BOM_LEDS; i++) { |
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if(bom_val[i] < lowest_val) {
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lowest_val = bom_val[i]; |
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lowest_i = i; |
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} |
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} |
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if(lowest_val < BOM_VALUE_THRESHOLD)
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return lowest_i;
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else
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return -1; |
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} |
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/**
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* Print a histogram which shows the current BOM intensity values for each of the 16 BOM IR
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* sensors. The function will attempt to send the histogram data over USB.
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*
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* @param curBOMvals Pointer to an array of the current BOM values (the array must have
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* length 16). Use this to print values you have already collected. Otherwise pass in NULL
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* and bom_refresh() will be called and the current BOM intensity values will be collected.
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**/
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void bom_print_usb(int* usrBOMvals) { |
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int i, j, max = -1; |
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int curVals[16]; |
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int* prtValPtr;
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if (usrBOMvals) {
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/* Use BOM values collected by user */
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prtValPtr = usrBOMvals; |
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/* Find max BOM value from users values */
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for (i = 0; i < 16; i++) { |
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if (max < prtValPtr[i])
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max = prtValPtr[i]; |
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} |
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} else {
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/* Refresh and make sure the table is updated */
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bom_refresh(BOM_ALL); |
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/* Record values into an array */
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for (i = 0; i < 16; i++) { |
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curVals[i] = bom_get(i); |
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if (max < curVals[i])
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max = curVals[i]; |
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} |
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/* Use the current set of collected values */
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prtValPtr = curVals; |
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} |
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/* Display results */
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for (i = 0; i < 16; i++) { |
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usb_puti(i); |
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usb_puts(": ");
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usb_puti(prtValPtr[i]); |
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usb_putc('\t');
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for (j = 0; j < (int)((max - prtValPtr[i]) / 5); j++) { |
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usb_putc('#');
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} |
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usb_puts("\r\n");
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} |
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usb_puts("\r\n");
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} |
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/**
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* Computes the weighted average of all the bom readings to estimate the position (and distance) of another robot.
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*
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* @pre must call bom refresh
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* @param dist pointer to int in which to return the estimated distance to the other robot
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* @return estimated position of the max bom value element as a fixed point value analogous to 10 times the
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* index of the max bom value. -1 if no value is lower than BOM_VALUE_THRESHOLD.
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**/
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int bom_get_max10(int *dist) { |
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int i, max;
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long long mean = 0, sum = 0; |
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max = bom_get_max(); |
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if (max < 0) |
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{ |
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if (dist)
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{ |
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*dist = -1;
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} |
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return -1; |
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} |
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/* Record values into an array */
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for (i = 0; i < NUM_BOM_LEDS; i++) { |
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int idx = ((i + (NUM_BOM_LEDS/2 - max) + NUM_BOM_LEDS) % NUM_BOM_LEDS) - (NUM_BOM_LEDS/2 - max); |
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int val = 255 - bom_val[i]; |
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mean += idx * val; |
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sum += val; |
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} |
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mean = (mean * 10) / sum;
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mean = (mean + NUM_BOM_LEDS*10) % (NUM_BOM_LEDS*10); |
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if (dist)
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{ |
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*dist = 50 - sum/48; |
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} |
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return mean;
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} |
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/**
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* Iterates through each bit in the bit_field. If the bit is set, the corresponding emitter will
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* be enabled to turn on when bom_on() is called.
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* bom_init must be called for this to work. Does nothing if a BOM1.0 is installed
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*
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* @param bit_field specifies which leds should be turned on when bom_on is called. Use BOM_ALL to turn on all bom leds.
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* Ex. if 0x0005 is passed, leds 0 and 2 will be turned on.
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**/
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void bom_set_leds(int bit_field) { |
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int i;
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unsigned int mask = 1<<(NUM_BOM_LEDS-1); |
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switch(bom_type) {
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case BOM10:
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//TODO: put an assert here to alert the user that this should not be called
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break;
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case BOM15:
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for(i=NUM_BOM_LEDS; i>0; i--) |
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{ |
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//set the current bit, sending MSB first
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digital_output(BOM_DATA, bit_field&mask); |
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//then pulse the clock
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digital_output(BOM_CLOCK, 1);
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digital_output(BOM_CLOCK, 0);
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mask = mask>>1;
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} |
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break;
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case RBOM:
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//add rbom code here
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break;
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} |
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} |
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/**
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* (DEPRECATED) Returns the direction of the maximum BOM reading,
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* as an integer in the range 0-15. 0 indicates to the
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* robot's right, while the rest of the sensors are
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* numbered counterclockwise. This is useful for determining
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* the direction of a robot flashing its BOM, of only one
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* robot is currently doing so. analog_init must be called
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* before this function can be used.
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*
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* @return the direction of the maximum BOM reading
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*
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* @see analog_init
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**/
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int get_max_bom(void) { |
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bom_refresh(BOM_ALL); |
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return bom_get_max();
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} |
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/**
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* Flashes the BOM. If using a BOM1.5, only the emitters that have been enabled using
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* bom_set_leds will turn on.
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*
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* @see bom_off, bom_set_leds
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**/
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void bom_on(void) |
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{ |
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switch(bom_type) {
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case BOM10:
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digital_output(MONKL, 1);
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break;
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case BOM15:
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digital_output(BOM_STROBE, 1);
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break;
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case RBOM:
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break;
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} |
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} |
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/**
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* Turns off all bom leds.
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*
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* @see bom_on
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**/
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void bom_off(void) |
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{ |
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switch(bom_type) {
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case BOM10:
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digital_output(MONKL, 0);
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break;
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case BOM15:
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digital_output(BOM_STROBE, 0);
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break;
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case RBOM:
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break;
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} |
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} |
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/** @} **/ //end group |
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//select a detector to read
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static void bom_select(char which) { |
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if(bom_type == BOM10)
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which = lookup[(int)which];
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if (which&8) |
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digital_output(select_pins[3], 1); |
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else
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digital_output(select_pins[3], 0); |
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if (which&4) |
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digital_output(select_pins[2], 1); |
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else
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digital_output(select_pins[2], 0); |
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if (which&2) |
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digital_output(select_pins[1], 1); |
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else
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digital_output(select_pins[1], 0); |
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if (which&1) |
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digital_output(select_pins[0], 1); |
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else
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digital_output(select_pins[0], 0); |
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} |