BOM (Bearing and Orientation Module)

Functions for dealing with the BOM. More...

Functions
int	get_max_bom (void)
	Returns the location of the maximum BOM reading.
void	bom_on (void)
	Turns the BOM on.
void	bom_off (void)
	Turns the BOM off.

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Detailed Description

Functions for dealing with the BOM.

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.

Include bom.h to access these functions.

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Function Documentation

void bom_off (  void   )

Turns the BOM off. Stops flashing the BOM. analog_init must be called before this function can be used. See also: bom_on, analog_init

void bom_on (  void   )

Turns the BOM on. Flashes the BOM. analog_init must be called before this function can be used. See also: bom_off, analog_init

int get_max_bom (  void   )

Returns the location of the maximum BOM reading. 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. Returns: the direction of the maximum BOM reading See also: analog_init

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