Colony

    <li><a href="annotated.html"><span>Data&nbsp;Structures</span></a></li>

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

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g3f1e6fc7eeb6d7cffde8bb03ff8dc488"></a><!-- doxytag: member="bom::BOM_ALL" ref="g3f1e6fc7eeb6d7cffde8bb03ff8dc488" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g3f1e6fc7eeb6d7cffde8bb03ff8dc488">BOM_ALL</a>&nbsp;&nbsp;&nbsp;0xFFFF</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Include all elements in the 16-bit bitfield. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gd555cfe7a1fcf16c3639f797120478eb"></a><!-- doxytag: member="bom::BOM" ref="gd555cfe7a1fcf16c3639f797120478eb" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#gd555cfe7a1fcf16c3639f797120478eb">BOM</a>&nbsp;&nbsp;&nbsp;0</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Original BOM - No Range, No Individual LED control. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g8c5367cf01a2a7ede66be0f2a49b28d0"></a><!-- doxytag: member="bom::BOM15" ref="g8c5367cf01a2a7ede66be0f2a49b28d0" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g8c5367cf01a2a7ede66be0f2a49b28d0">BOM15</a>&nbsp;&nbsp;&nbsp;1</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">BOM 1.5 - No Range, Individual LED control. <br></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g1ff400a0e77d2266138b080061f49d01"></a><!-- doxytag: member="bom::RBOM" ref="g1ff400a0e77d2266138b080061f49d01" args="" -->

#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g1ff400a0e77d2266138b080061f49d01">RBOM</a>&nbsp;&nbsp;&nbsp;2</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">RBOM - Range, Individual LED control. <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__bom.html#g101f932380b02b48a0ca3d20ffc8c08f">bom_init</a> (char type)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize the bom according to bom type.  <a href="#g101f932380b02b48a0ca3d20ffc8c08f"></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__bom.html#gbdcdf3a1428f8145ee5eed82efdaf0fc">bom_refresh</a> (int bit_field)</td></tr>

<tr><td class="mdescLeft">&nbsp;</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>

<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#gd28d2a59a5090390e20f87cfd05b0a8b">bom_get</a> (int which)</td></tr>

<tr><td class="mdescLeft">&nbsp;</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>

<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#gbce8d8dd8f11d8f5e9f9d74d84ea15db">bom_get_max</a> (void)</td></tr>

<tr><td class="mdescLeft">&nbsp;</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>

<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g2f5fae400bcc24d266c84ca441a1516c">bom_leds_on</a> (int bit_field)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Turns on the selected bom leds. Only works with BOM_ALL if using the original bom.  <a href="#g2f5fae400bcc24d266c84ca441a1516c"></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__bom.html#gf3fb24ce85166158df75f7d5f391f3ad">bom_leds_off</a> (int bit_field)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Turns off the selected bom leds. Only works with BOM_ALL if using the original bom.  <a href="#gf3fb24ce85166158df75f7d5f391f3ad"></a><br></td></tr>

<tr><td class="mdescLeft">&nbsp;</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>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">(DEPRECATED) Turns on all bom leds.  <a href="#g93b665ff81fc6b58503c6ba5ba01c1bf"></a><br></td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">(DEPRECATED) Turns off all bom leds.  <a href="#g61a66e53cdee8bce139c707153143b30"></a><br></td></tr>

<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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<p>

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

<p>

Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values.<p>

<dl compact><dt><b>Parameters:</b></dt><dd>

  <table border="0" cellspacing="2" cellpadding="0">

    <tr><td valign="top"></td><td valign="top"><em>which</em>&nbsp;</td><td>which bom value to return</td></tr>

  </table>

</dl>

<dl class="return" compact><dt><b>Returns:</b></dt><dd>the bom value</dd></dl>

see bom_refresh 

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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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<p>

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

<p>

Compares all the values in bom_val[] and returns the index to the lowest (max) value element.<p>

<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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<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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<p>

Initialize the bom according to bom type. 

<p>

Initializes the BOM. Call bom_init before reading bom values or turning bom leds.<p>

INCOMPLETE - need to fill in init routine for BOM15<p>

<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>, <a class="el" href="group__bom.html#g2f5fae400bcc24d266c84ca441a1516c" title="Turns on the selected bom leds. Only works with BOM_ALL if using the original bom...">bom_leds_on</a>, <a class="el" href="group__bom.html#gf3fb24ce85166158df75f7d5f391f3ad" title="Turns off the selected bom leds. Only works with BOM_ALL if using the original bom...">bom_leds_off</a> </dd></dl>

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<a class="anchor" name="gf3fb24ce85166158df75f7d5f391f3ad"></a><!-- doxytag: member="bom.c::bom_leds_off" ref="gf3fb24ce85166158df75f7d5f391f3ad" args="(int bit_field)" -->

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<p>

Turns off the selected bom leds. Only works with BOM_ALL if using the original bom. 

<p>

Iterates through each bit in the bit_field. For each set bit, turns off the corresponding bom led. bom_init must be called for this to work. Only works with BOM_ALL if using the original bom.<p>

<dl compact><dt><b>Parameters:</b></dt><dd>

  <table border="0" cellspacing="2" cellpadding="0">

    <tr><td valign="top"></td><td valign="top"><em>bit_field</em>&nbsp;</td><td>specifies which leds should be turned off. Use BOM_ALL to turn off all bom leds. Ex. if 0x000B is passed, leds 0 and 3 will be turned off. </td></tr>

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</dl>

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<a class="anchor" name="g2f5fae400bcc24d266c84ca441a1516c"></a><!-- doxytag: member="bom.c::bom_leds_on" ref="g2f5fae400bcc24d266c84ca441a1516c" args="(int bit_field)" -->

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

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<p>

Turns on the selected bom leds. Only works with BOM_ALL if using the original bom. 

<p>

Iterates through each bit in the bit_field. For each set bit, turns on the corresponding bom led. bom_init must be called for this to work. Only works with BOM_ALL if using the original bom.<p>

<dl compact><dt><b>Parameters:</b></dt><dd>

  <table border="0" cellspacing="2" cellpadding="0">

    <tr><td valign="top"></td><td valign="top"><em>bit_field</em>&nbsp;</td><td>specifies which leds should be turned on. Use BOM_ALL to turn on all bom leds. Ex. if 0x0005 is passed, leds 0 and 2 will be turned on. </td></tr>

  </table>

</dl>

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(DEPRECATED) Turns off all bom leds. 

(DEPRECATED) Turns off all bom leds.<p>

<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#g93b665ff81fc6b58503c6ba5ba01c1bf" title="(DEPRECATED) Turns on all bom leds.">bom_on</a> </dd></dl>

(DEPRECATED) Turns on all bom leds. 

(DEPRECATED) Turns on all bom leds.<p>

<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#g61a66e53cdee8bce139c707153143b30" title="(DEPRECATED) Turns off all bom leds.">bom_off</a> </dd></dl>

<a class="anchor" name="gbdcdf3a1428f8145ee5eed82efdaf0fc"></a><!-- doxytag: member="bom.c::bom_refresh" ref="gbdcdf3a1428f8145ee5eed82efdaf0fc" args="(int bit_field)" -->

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<p>

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

<p>

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>

<dl compact><dt><b>Parameters:</b></dt><dd>

  <table border="0" cellspacing="2" cellpadding="0">

    <tr><td valign="top"></td><td valign="top"><em>bit_field</em>&nbsp;</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>

  </table>

</dl>

<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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(DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element. 

(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>

<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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