Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file bom.h

 * @brief Definitions for using the BOM

 * 

 * This file contains definitions for using the Bearing and 

 * Orientation Module (BOM).

 *

 * @author Colony Project, CMU Robotics Club

 *

 **/

#ifndef _BOM_H

#define _BOM_H

/**

 * @addtogroup bom

 * @{

 **/

/** @brief Include all elements in the 16-bit bitfield **/

#define BOM_ALL 0xFFFF

/** @brief Original BOM - No Range, No Individual LED control **/

#define BOM10     0

/** @brief BOM 1.5 - No Range, Individual LED control **/

#define BOM15   1

/** @brief RBOM - Range, Individual LED control **/

#define RBOM    2

/** @brief Struct for storing vector data. Used by bom_get_vector() functions **/

typedef struct vector {

        int x;

        int y;

} Vector;

/** @brief Initialize the bom according to bom type **/

void bom_init(char type);

/** @brief Refresh bom_val[] with new values from analog8.  analog_init and bom_init must be called for this to work. **/

void bom_refresh(int bit_field);

/** @brief Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values. **/

int bom_get(int which);

/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/

int bom_get_max(void);

/** @brief Computes the net resultant BOM IR vector. **/

int bom_get_vector(Vector*, int*);

/** @brief Computes the normalized net resultant BOM IR vector. **/

int bom_get_norm_vector(Vector*, int*);

/** @brief Print snapshot of BOM intensity histogram over USB connection **/

int bom_print_usb(int*);

/** @brief Computes the weighted average of all the bom readings to estimate the position and distance of another robot. **/

int bom_get_max10(int *dist);

/** @brief Enables the selected bom leds on a BOM1.5 **/

void bom_set_leds(int bit_field);

/** @brief (DEPRECATED) Gets and compares all bom values.  Returns the index to the highest value element since last refresh. **/

int get_max_bom(void);

/** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/

void bom_on(void);

/** @brief Turns off all bom leds. **/

void bom_off(void);

/** @} **/

#endif