Revision 891
Moved comments to headers. That was painful.
| bom.h | ||
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#define _BOM_H |
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/** |
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* @addtogroup bom |
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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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|
| ... | ... | |
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/** @brief RBOM - Range, Individual LED control **/ |
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#define RBOM 2 |
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/** @brief Initialize the bom according to bom type **/ |
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/** |
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* @brief Initialize the bom according to bom type |
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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 - need to fill in init routine for BOM15 |
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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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/** @brief Refresh bom_val[] with new values from analog8. analog_init and bom_init must be called for this to work. **/ |
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/** |
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* @brief Update the BOM readings. |
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* |
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* Refreshes the reading from the specified BOM LEDs. |
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* |
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* @param bit_field a bitfield specifying which LEDs to update. |
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* Use BOM_ALL to refresh all values. For example, if 3 is passed, |
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* LEDs 0 and 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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/** @brief 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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* @brief Gets the BOM reading for a specific LED. |
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* |
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* Gets the BOM reading for LED which. Call bom_refresh |
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* beforehand to read new bom values. |
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* |
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* @param the LED value to return |
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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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/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/ |
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/** |
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* @brief Return the BOM LED with the highest value. |
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* |
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* Returns the BOM LED with the highest reading, an integer in the range |
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* 0 to 15. 0 is to the robot's right, and the rest are numbered counterclockwise. |
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* |
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* @return the LED with the highest value, or -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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/** @brief Turns on the selected bom leds. Only works with BOM_ALL if using the original bom. **/ |
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/** |
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* @brief Turns on the selected bom leds. |
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* |
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* Iterates through each bit in the bit_field. For each set bit, turns on the corresponding bom led. |
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* bom_init must be called for this to work. |
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* With the original BOM, this only works if BOM_ALL is specified. |
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* |
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* @param bit_field specifies which leds should be turned on. 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_leds_on(int bit_field); |
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/** @brief Turns off the selected bom leds. Only works with BOM_ALL if using the original bom. **/ |
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/** |
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* @brief Turns off the selected bom leds. Only works with BOM_ALL if using the original bom. |
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* |
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* Iterates through each bit in the bit_field. For each set bit, turns off the corresponding bom led. |
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* bom_init must be called for this to work. Only works with BOM_ALL if using the original bom. |
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* |
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* @param bit_field specifies which leds should be turned off. Use BOM_ALL to turn off all bom leds. |
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* Ex. if 0x000B is passed, leds 0 and 3 will be turned off. |
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**/ |
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void bom_leds_off(int bit_field); |
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/** @brief (DEPRECATED) Wrapper function. See bom_refresh and bom_get_max **/ |
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int get_max_bom(void); |
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/** @brief (DEPRECATED) Wrapper function. See bom_leds_on. **/ |
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/** |
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* @brief Turns all BOM LEDs on. |
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* |
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* Turns on all BOM LEDs. Equivalent to bom_leds_on(BOM_ALL). |
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* |
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* @see bom_off |
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**/ |
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void bom_on(void); |
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/** @brief (DEPRECATED) Wrapper function. See bom_leds_off. **/ |
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/** |
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* @brief Turns all BOM LEDs off. |
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* |
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* Turns off all BOM LEDs. Equivalent to bom_leds_off(BOM_ALL). |
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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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