Colony

/**

 * Copyright (c) 2008 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 LBOM

 *

 * This file contains definitions for using the Bearing and

 * Orientation Module (BOM) on the charge bay.

 *

 * @author Colony Project, CMU Robotics Club

 *

 **/

#ifndef _LBOM_H

#define _LBOM_H

#include "serial.h"

#define BOM_ALL_ON 0xF

#define BOM 0

#define BOM1_5 1

#define RBOM 2

#define BOM0 PC4

#define BOM1 PC5

#define BOM2 PC6

#define BOM3 PC7

/**

 * @addtogroup lbom

 * @{

 **/

/** @brief Sets up the LBOM to be used. **/

void bom_init(char type);

/** @brief Turns the LBOM on. **/

void bom_on(void);

/** @brief Turns the LBOM off. **/

void bom_off(void);

/** @brief Sets which LEDs are in use. **/

void set_leds(int bit_field);

/** @brief Returns -1, since we cannot read from the lbom. **/

int get_max_bom(void);

/** @} **/

#endif