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<title>libdragonfly: BOM (Bearing and Orientation Module)</title>
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<h1>BOM (Bearing and Orientation Module)</h1>Functions for dealing with the BOM.
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<a href="#_details">More...</a><table border="0" cellpadding="0" cellspacing="0">
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<tr><td></td></tr>
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g86753fe7440cd64e60c58ad31c62264a">get_max_bom</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the location of the maximum BOM reading.  <a href="#g86753fe7440cd64e60c58ad31c62264a"></a><br></td></tr>


    		
  

  

    
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g93b665ff81fc6b58503c6ba5ba01c1bf">bom_on</a> (void)</td></tr>


    		
  

  

    
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Turns the BOM on.  <a href="#g93b665ff81fc6b58503c6ba5ba01c1bf"></a><br></td></tr>


    		
  

  

    
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bom.html#g61a66e53cdee8bce139c707153143b30">bom_off</a> (void)</td></tr>


    		
  

  

    
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Turns the BOM off.  <a href="#g61a66e53cdee8bce139c707153143b30"></a><br></td></tr>


    		
  

  

    
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<hr><a name="_details"></a><h2>Detailed Description</h2>


    		
  

  

    
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Functions for dealing with the BOM. 


    		
  

  

    
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<p>


    		
  

  

    
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The Bearing and Orientation Module / Barrel of Monkeys / BOM is a custom sensor designed and built by the Colony Project. It consists of a ring of 16 IR emitters and 16 IR detectors. The BOM is most often use to determine the direction of other robots. This module contains functions for controlling the BOM.<p>


    		
  

  

    
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Include <a class="el" href="bom_8h.html" title="Definitions for using the BOM.">bom.h</a> to access these functions. <hr><h2>Function Documentation</h2>


    		
  

  

    
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<a class="anchor" name="g61a66e53cdee8bce139c707153143b30"></a><!-- doxytag: member="bom.c::bom_off" ref="g61a66e53cdee8bce139c707153143b30" args="(void)" -->


    		
  

  

    
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          <td class="memname">void bom_off           </td>


    		
  

  

    
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          <td>(</td>


    		
  

  

    
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          <td class="paramtype">void&nbsp;</td>


    		
  

  

    
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          <td>&nbsp;)&nbsp;</td>


    		
  

  

    
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Turns the BOM off. 


    		
  

  

    
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Stops flashing the BOM. analog_init must be called before this function can be used.<p>


    		
  

  

    
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#g93b665ff81fc6b58503c6ba5ba01c1bf" title="Turns the BOM on.">bom_on</a>, <a class="el" href="group__analog.html#g55f66ff6f3449ef81d97b7e47f041918" title="Initialize analog ports.">analog_init</a> </dd></dl>


    		
  

  

    
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<a class="anchor" name="g93b665ff81fc6b58503c6ba5ba01c1bf"></a><!-- doxytag: member="bom.c::bom_on" ref="g93b665ff81fc6b58503c6ba5ba01c1bf" args="(void)" -->


    		
  

  

    
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          <td class="memname">void bom_on           </td>


    		
  

  

    
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Turns the BOM on. 


    		
  

  

    
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Flashes the BOM. analog_init must be called before this function can be used.<p>


    		
  

  

    
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bom.html#g61a66e53cdee8bce139c707153143b30" title="Turns the BOM off.">bom_off</a>, <a class="el" href="group__analog.html#g55f66ff6f3449ef81d97b7e47f041918" title="Initialize analog ports.">analog_init</a> </dd></dl>


    		
  

  

    
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<a class="anchor" name="g86753fe7440cd64e60c58ad31c62264a"></a><!-- doxytag: member="bom.c::get_max_bom" ref="g86753fe7440cd64e60c58ad31c62264a" args="(void)" -->


    		
  

  

    
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          <td class="memname">int get_max_bom           </td>


    		
  

  

    
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Returns the location of the maximum BOM reading. 


    		
  

  

    
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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>


    		
  

  

    
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the direction of the maximum BOM reading</dd></dl>


    		
  

  

    
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__analog.html#g55f66ff6f3449ef81d97b7e47f041918" title="Initialize analog ports.">analog_init</a> </dd></dl>


    		
  

  

    
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<hr size="1"><address style="text-align: right;"><small>Generated on Mon Sep 22 22:30:16 2008 for libdragonfly by&nbsp;


    		
  

  

    
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.4 </small></address>


    		
  

  

    
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