Files
file	mindsensors-lightsensorarray.h
	Mindsensors LigthSensorArray.
file	mindsensors-lineleader.h
	Mindsensors Line Tracking Sensor.
Defines
#define	MSLSA_I2C_ADDR 0x14
#define	MSLSA_CMD_REG 0x41
#define	MSLSA_CALIBRATED 0x42
#define	MSLSA_WHITE_LIMIT 0x4A
#define	MSLSA_BLACK LIMIT 0x52
#define	MSLSA_WHITE_CALIB_DATA 0x5A
#define	MSLSA_BLACK_CALIB_DATA 0x62
#define	MSLSA_UNCALIBRATED 0x6A
#define	MSLSA_CMD_FREQ_US 'A'
#define	MSLSA_CMD_CALIB_BLACK 'B'
#define	MSLSA_CMD_POWERDOWN 'D'
#define	MSLSA_CMD_FREQ_EU 'E'
#define	MSLSA_CMD_POWERUP 'P'
#define	MSLSA_CMD_FREQ_UNI 'U'
#define	MSLDA_CMD_CALIB_WHITE 'W'
#define	MSLSAwakeUp(X) _MSLSAsendCommand(X, MSLSA_CMD_POWERUP)
#define	MSLSASleep(X) _MSLSAsendCommand(X, MSLSA_CMD_POWERDOWN)
#define	MSLSAcalWhite(X) _MSLSAsendCommand(X, MSLDA_CMD_CALIB_WHITE)
#define	MSLSAcalBlack(X) _MSLSAsendCommand(X, MSLSA_CMD_CALIB_BLACK)
#define	MSLSAsetEU(X) _MSLSAsendCommand(X, MSLSA_CMD_FREQ_EU)
#define	MSLSAsetUS(X) _MSLSAsendCommand(X, MSLSA_CMD_FREQ_US)
#define	MSLSAsetUni(X) _MSLSAsendCommand(X, MSLSA_CMD_FREQ_UNI)
#define	LL_I2C_ADDR 0x02
#define	LL_CMD_REG 0x41
#define	LL_SETPOINT 0x45
#define	LL_KP_VALUE 0x46
#define	LL_KI_VALUE 0X47
#define	LL_KD_VALUE 0X48
#define	LL_KP_FACTOR 0x61
#define	LL_KI_FACTOR 0X62
#define	LL_KD_FACTOR 0X63
#define	LL_READ_STEERING 0x42
#define	LL_READ_AVERAGE 0X43
#define	LL_READ_RESULT 0X44
#define	LL_SENSOR_RAW 0X49
#define	LL_WHITE_LIMIT 0X51
#define	LL_BLACK_LIMIT 0X59
#define	LL_SENSOR_UNCAL 0x74
Functions
bool	MSLSAreadSensors (tSensors link, ubyte *values)
bool	MSLSAreadRawSensors (tSensors link, int *values)
bool	_MSLSAsendCommand (tSensors link, ubyte cmd)
bool	LLinit (tSensors link)
bool	LLwakeUp (tSensors link)
bool	LLsleep (tSensors link)
bool	LLinvertLineColor (tSensors link)
bool	LLresetLineColor (tSensors link)
bool	LLtakeSnapshot (tSensors link)
bool	LLcalWhite (tSensors link)
bool	LLcalBlack (tSensors link)
bool	LLsetPoint (tSensors link, ubyte data)
int	LLsetPoint (tSensors link)
bool	LLsetKp (tSensors link, ubyte data, ubyte factor)
int	LLreadKp (tSensors link)
int	LLreadKpFactor (tSensors link)
bool	LLsetKi (tSensors link, ubyte data, ubyte factor)
int	LLreadKi (tSensors link)
int	LLreadKiFactor (tSensors link)
bool	LLsetKd (tSensors link, ubyte data, ubyte factor)
int	LLreadKd (tSensors link)
int	LLreadKdFactor (tSensors link)
int	LLreadSteering (tSensors link)
int	LLreadAverage (tSensors link)
int	LLreadResult (tSensors link)
bool	LLreadSensorRaw (tSensors link, tByteArray &pMsg)
bool	LLreadSensorUncalibrated (tSensors link, tIntArray &sensorValues)
bool	LLreadWhiteThresh (tSensors link, tByteArray &pMsg)
bool	LLreadBlackThresh (tSensors link, tByteArray &pMsg)
bool	_lineLeader_cmd (tSensors link, ubyte cmd)
bool	_lineLeader_write (tSensors link, ubyte regToWrite, ubyte data)
bool	_lineLeader_read (tSensors link, ubyte regToRead, ubyte &retval)
bool	_lineLeader_read (tSensors link, ubyte regToRead, int numBytes, tByteArray &pDataMsg)
Variables
tByteArray	MSLSA_I2CRequest
tByteArray	MSLSA_I2CReply
tByteArray	LL_I2CRequest
tByteArray	LL_I2CReply
ubyte	oneByte

Detailed Description

LineLeader Sensor

Define Documentation

#define LL_BLACK_LIMIT 0X59

ubyte array (8) with raw value of black calibration for each sensor

Definition at line 69 of file mindsensors-lineleader.h.

#define LL_CMD_REG 0x41

Register used for issuing commands

Definition at line 54 of file mindsensors-lineleader.h.

#define LL_I2C_ADDR 0x02

I2C address used by the LL

Definition at line 53 of file mindsensors-lineleader.h.

#define LL_KD_FACTOR 0X63

D factor for D value of PID control

Definition at line 62 of file mindsensors-lineleader.h.

#define LL_KD_VALUE 0X48

D value of PID control

Definition at line 59 of file mindsensors-lineleader.h.

#define LL_KI_FACTOR 0X62

I factor for I value of PID control

Definition at line 61 of file mindsensors-lineleader.h.

#define LL_KI_VALUE 0X47

I value of PID control

Definition at line 58 of file mindsensors-lineleader.h.

#define LL_KP_FACTOR 0x61

P factor for P value of PID control

Definition at line 60 of file mindsensors-lineleader.h.

#define LL_KP_VALUE 0x46

P value of PID control

Definition at line 57 of file mindsensors-lineleader.h.

#define LL_READ_AVERAGE 0X43

weighted average value for all sensors in array

Definition at line 65 of file mindsensors-lineleader.h.

#define LL_READ_RESULT 0X44

1 or 0 for line or no line for all 8 sensors

Definition at line 66 of file mindsensors-lineleader.h.

#define LL_READ_STEERING 0x42

steering value for simple mode line following

Definition at line 64 of file mindsensors-lineleader.h.

#define LL_SENSOR_RAW 0X49

ubyte array (8) with raw value for each sensor

Definition at line 67 of file mindsensors-lineleader.h.

#define LL_SENSOR_UNCAL 0x74

ubyte array (16) with uncalibrated sensor data

Definition at line 70 of file mindsensors-lineleader.h.

#define LL_SETPOINT 0x45

average value considered center of line (def=45)

Definition at line 56 of file mindsensors-lineleader.h.

#define LL_WHITE_LIMIT 0X51

ubyte array (8) with raw value of white calibration for each sensor

Definition at line 68 of file mindsensors-lineleader.h.

#define MSLDA_CMD_CALIB_WHITE 'W'

Calibrate white values

Definition at line 56 of file mindsensors-lightsensorarray.h.

#define MSLSA_BLACK LIMIT 0x52

Black Reading Limit

Definition at line 45 of file mindsensors-lightsensorarray.h.

#define MSLSA_BLACK_CALIB_DATA 0x62

Black Calibration data

Definition at line 47 of file mindsensors-lightsensorarray.h.

#define MSLSA_CALIBRATED 0x42

Calibrated Sensor reading

Definition at line 43 of file mindsensors-lightsensorarray.h.

#define MSLSA_CMD_CALIB_BLACK 'B'

Calibrate black values

Definition at line 51 of file mindsensors-lightsensorarray.h.

#define MSLSA_CMD_FREQ_EU 'E'

European frequency compensation

Definition at line 53 of file mindsensors-lightsensorarray.h.

#define MSLSA_CMD_FREQ_UNI 'U'

Universal frequency compensation (default)

Definition at line 55 of file mindsensors-lightsensorarray.h.

#define MSLSA_CMD_FREQ_US 'A'

American frequency compensation

Definition at line 50 of file mindsensors-lightsensorarray.h.

#define MSLSA_CMD_POWERDOWN 'D'

Power down the sensor array

Definition at line 52 of file mindsensors-lightsensorarray.h.

#define MSLSA_CMD_POWERUP 'P'

Power up the sensor array

Definition at line 54 of file mindsensors-lightsensorarray.h.

#define MSLSA_CMD_REG 0x41

Register used for issuing commands

Definition at line 41 of file mindsensors-lightsensorarray.h.

#define MSLSA_I2C_ADDR 0x14

I2C address used by the MSLSA

Definition at line 40 of file mindsensors-lightsensorarray.h.

#define MSLSA_UNCALIBRATED 0x6A

Uncalibrated sensor voltage

Definition at line 48 of file mindsensors-lightsensorarray.h.

#define MSLSA_WHITE_CALIB_DATA 0x5A

White Calibration data

Definition at line 46 of file mindsensors-lightsensorarray.h.

#define MSLSA_WHITE_LIMIT 0x4A

White Reading Limit

Definition at line 44 of file mindsensors-lightsensorarray.h.

#define MSLSAcalBlack ( X ) _MSLSAsendCommand(X, MSLSA_CMD_CALIB_BLACK)

Calibrate the black value

Definition at line 64 of file mindsensors-lightsensorarray.h.

#define MSLSAcalWhite ( X ) _MSLSAsendCommand(X, MSLDA_CMD_CALIB_WHITE)

Calibrate the white value

Definition at line 63 of file mindsensors-lightsensorarray.h.

#define MSLSAsetEU ( X ) _MSLSAsendCommand(X, MSLSA_CMD_FREQ_EU)

Calibrate the black value

Examples:: mindsensors-ligthsensorarray-test3.c.

Definition at line 65 of file mindsensors-lightsensorarray.h.

#define MSLSAsetUni ( X ) _MSLSAsendCommand(X, MSLSA_CMD_FREQ_UNI)

Calibrate the black value

Examples:: mindsensors-ligthsensorarray-test3.c.

Definition at line 67 of file mindsensors-lightsensorarray.h.

#define MSLSAsetUS ( X ) _MSLSAsendCommand(X, MSLSA_CMD_FREQ_US)

Calibrate the black value

Examples:: mindsensors-ligthsensorarray-test3.c.

Definition at line 66 of file mindsensors-lightsensorarray.h.

#define MSLSASleep ( X ) _MSLSAsendCommand(X, MSLSA_CMD_POWERDOWN)

Put sensor into sleep mode

Definition at line 62 of file mindsensors-lightsensorarray.h.

#define MSLSAwakeUp ( X ) _MSLSAsendCommand(X, MSLSA_CMD_POWERUP)

Wake sensor from sleep mode

Definition at line 61 of file mindsensors-lightsensorarray.h.

Function Documentation

bool _lineLeader_cmd	(	tSensors	link,
		ubyte	cmd
	)

Send a command to the Line Leader

This function sends a command to the lineleader over I2C.

Note: this is an internal function and should not be called directly.

Parameters:

link	the sensor port number
cmd	the command to be sent

Returns:: true if no error occured, false if it did

PRELIMINARY COMMANDS FROM NXC LIB CODE

A American frequency compensation
B for black calibration
D sensor power down
E European frequency compensation
I invert line color
P power on sensor
R reset line color to dark
S snapshot to determine line color
U Universal frequency compensation (default)
S setpoint based on snapshot (automatically set's invert if needed)
W White balance

Definition at line 145 of file mindsensors-lineleader.h.

bool _lineLeader_read	(	tSensors	link,
		ubyte	regToRead,
		ubyte &	retval
	)

Read one ubyte from a Line Leader Register

This function reads one ubyte from a register in the LL sensor over I2C.

Note: this is an internal function and should not be called directly.

Parameters:

link	the sensor port number
regToRead	the register to read from
retval	the ubyte in which to store the reply

Returns:: true if no error occured, false if it did

Definition at line 186 of file mindsensors-lineleader.h.

bool _lineLeader_read	(	tSensors	link,
		ubyte	regToRead,
		int	numBytes,
		tByteArray &	pDataMsg
	)

Read data from a Line Leader Register

This function reads multiple bytes from a register in the LL sensor over I2C.

Note: this is an internal function and should not be called directly.

Parameters:

link	the sensor port number
regToRead	the register to read from
numBytes	the number of bytes to read
pDataMsg	tByteArray to store reply

Returns:: true if no error occured, false if it did

Definition at line 211 of file mindsensors-lineleader.h.

bool _lineLeader_write	(	tSensors	link,
		ubyte	regToWrite,
		ubyte	data
	)

Write to a Line Leader Register

This function writes data to a register in the LL sensor over I2C.

Note: this is an internal function and should not be called directly.

Parameters:

link	the sensor port number
regToWrite	the register to write to
data	the value to write to the register

Returns:: true if no error occured, false if it did

Definition at line 165 of file mindsensors-lineleader.h.

bool _MSLSAsendCommand	(	tSensors	link,
		ubyte	cmd
	)

Send a command to the LightSensorArray

This function sends a command to the lightsensorarray.

Note: this is an internal function and should not be called directly.

Parameters:

link	the sensor port number
cmd	the command to be sent

Returns:: true if no error occured, false if it did

PRELIMINARY COMMANDS FROM NXC LIB CODE

A American frequency compensation
B for black calibration
D sensor power down
E European frequency compensation
P power on sensor
U Universal frequency compensation (default)
W White balance

Definition at line 91 of file mindsensors-lightsensorarray.h.

bool LLcalBlack ( tSensors link )

Set black threshold for dark area

This function calibrates the black threshold for each sensor in the array. Place the array over the white surface with all sensors on the black area. Execute this command to set black values internally.

Parameters:

link	the sensor port number

Returns:: true if no error occured, false if it did

Definition at line 331 of file mindsensors-lineleader.h.

bool LLcalWhite ( tSensors link )

Set white threshold for light area

This function calibrates the white threshold for each sensor in the array. Place the array over the white surface with all sensors on the white area. Execute this command to set white values internally.

Parameters:

link	the sensor port number

Returns:: true if no error occured, false if it did

Definition at line 317 of file mindsensors-lineleader.h.

bool LLinit ( tSensors link )

Set up Line Leader sensor type

This function initializes the line leader to prepare for use. Issuing a command also wakes the line leader as needed.

Parameters:

link	the sensor port number

Returns:: true if no error occured, false if it did

Definition at line 235 of file mindsensors-lineleader.h.

bool LLinvertLineColor ( tSensors link )

Inverts detected line color

the function toggles from dark line on light to light line on dark and back.

Parameters:

link	the sensor port number

Returns:: true if no error occured, false if it did

Definition at line 276 of file mindsensors-lineleader.h.

int LLreadAverage ( tSensors link )

Read weighted sensor array average value

Read the Weighted "Average" value from the sensor. This value is calculated internally by the sensor where each of the eight sensors is either triggered or not and multiplied by a a factor to help determine if the line is left, right or on center of the line (according to the set point).
EXPECTED VALUES: 0-80 (-1=ERROR)

 SENSOR:       0    1    2    3    4    5    6    7
 MULTIPLIER:  10   20   30   40   50   60   70   80

FORMULA: Sum(Weighted Values)/Number sensors on line
Ex. if sensor 0 and 1 are over a line, the average is:
(10 + 20 + 0 + 0 + 0 + 0 + 0 + 0)/2 = 15
in this case 30 < 45 (set point) so the bot is left of center

Parameters:

link	the sensor port number

Returns:: average sensor value or -1 for error

Definition at line 546 of file mindsensors-lineleader.h.

bool LLreadBlackThresh	(	tSensors	link,
		tByteArray &	pMsg
	)

Return array of black thresholds (8 bytes)

Read the "Black Threshold" values from the Line Leader for each sensor.
Each of the eight sensors has a value. Raw values less then this threshold equal black (line).
The values are set when calibrating the black points for the sensor.

Parameters:

link	the sensor port number
&pMsg	is 8 bytes returned. One for each sensor with Threshold.

Returns:: true if no error occured, false if it did

Definition at line 629 of file mindsensors-lineleader.h.

int LLreadKd ( tSensors link )

READ Kd value

Read the "Kd" value from the sensor.

Parameters:

link	the sensor port number

Returns:: Kd value from the sensor

Definition at line 497 of file mindsensors-lineleader.h.

int LLreadKdFactor ( tSensors link )

READ d factor value

Read the "Kd factor" value from the sensor.

Parameters:

link	the sensor port number

Returns:: Kd factor value from the sensor

Definition at line 508 of file mindsensors-lineleader.h.

int LLreadKi ( tSensors link )

READ Ki value

Read the "Ki" value from the sensor.

Parameters:

link	the sensor port number

Returns:: Ki value from the sensor

Definition at line 453 of file mindsensors-lineleader.h.

int LLreadKiFactor ( tSensors link )

READ i factor value

Read the "Ki factor" value from the sensor.

Parameters:

link	the sensor port number

Returns:: Ki factor value from the sensor

Definition at line 464 of file mindsensors-lineleader.h.

int LLreadKp ( tSensors link )

READ Kp value

Read the "Kp" value from the sensor.

Parameters:

link	the sensor port number

Returns:: Kp value from the sensor

Definition at line 409 of file mindsensors-lineleader.h.

int LLreadKpFactor ( tSensors link )

READ p factor value

Read the "Kp factor" value from the sensor.

Parameters:

link	the sensor port number

Returns:: Kp factor value from the sensor

Definition at line 420 of file mindsensors-lineleader.h.

int LLreadResult ( tSensors link )

Read boolean sensor array values for all sensors

Read a ubyte with each bit equal to a sensor.
1 = Line
0 = No Line

 SENSOR:      0    1    2    3    4    5    6    7
 MULTIPLIER:  1    2    4    8    16   32   64   128

To determine if a given sensor is over a line or not, use binary math to test each bit.
A returned value of 3 means sensor 0 and 1 are over a line.

Parameters:

link	the sensor port number

Returns:: RESULT value from the sensor with 8 bits of data; NO ERROR CODE

Examples:: mindsensors-lineleader-test2.c, and mindsensors-lineleader-test3.c.

Definition at line 566 of file mindsensors-lineleader.h.

bool LLreadSensorRaw	(	tSensors	link,
		tByteArray &	pMsg
	)

Return array of raw light values (8 bytes)

Read the "Raw Sensor" values from the Line Leader. Amount of light or dark each sensor sees. Typically between 0-20. 0=black, 100=white

Parameters:

link	the sensor port number
&pMsg	is 8 bytes returned. One for each sensor with raw value.

Returns:: true if no error occured, false if it did

Examples:: mindsensors-lineleader-test2.c, and mindsensors-lineleader-test3.c.

Definition at line 579 of file mindsensors-lineleader.h.

bool LLreadSensorUncalibrated	(	tSensors	link,
		tIntArray &	sensorValues
	)

Return array of raw uncalibrated light values (8 ints)

Read the uncalibrated sensor values from the Line Leader. Each sensor returns a 16 bit value.

Parameters:

link	the sensor port number
sensorValues	is 8 bytes returned. One for each sensor with raw value.

Returns:: true if no error occured, false if it did

Examples:: mindsensors-lineleader-test4.c.

Definition at line 591 of file mindsensors-lineleader.h.

int LLreadSteering ( tSensors link )

Read internally calculated steering value

Read the "Steering" value from the sensor. This value is calculated internally and can directly be used to set turning values for the robot's motors.
EXPECTED VALUES: -100 to 100 (-101=ERROR)

Parameters:

link	the sensor port number (range: -100 to 100)

Returns:: steering value from the sensor, -101 for error

Examples:: mindsensors-lineleader-test3.c.

Definition at line 523 of file mindsensors-lineleader.h.

bool LLreadWhiteThresh	(	tSensors	link,
		tByteArray &	pMsg
	)

Return array of white thresholds (8 bytes)

Read the "White Threshold" values from the Line Leader for each sensor.
Each of the eight sensors has a value. Raw values greater then this threshold equal white (area).
The values are set when calibrating the white points for the sensor.

Parameters:

link	the sensor port number
&pMsg	is 8 bytes returned. One for each sensor with Threshold.

Returns:: true if no error occured, false if it did

Definition at line 615 of file mindsensors-lineleader.h.

bool LLresetLineColor ( tSensors link )

Resets line color to dark on light bkgrnd

the function resets to default of sensing a dark line on light background

Parameters:

link	the sensor port number

Returns:: true if no error occured, false if it did

Definition at line 288 of file mindsensors-lineleader.h.

bool LLsetKd	(	tSensors	link,
		ubyte	data,
		ubyte	factor
	)

WRITE Kd value

Set the "Kd" value for the sensor's internal PID calculations.
This value is usually set lower to stabilize default 8/32
EXPECTED VALUES: 0 to 255
DEFAULT VALUE: 8
EXPECTED VALUES: 1 to 255
DEFAULT FACTOR: 32

Parameters:

link	the sensor port number
data	- the value to set Kd
factor	- the Kd factor where d = Kd/Kdfactor

Returns:: true if no error occured, false if it did

Examples:: mindsensors-lineleader-test3.c.

Definition at line 484 of file mindsensors-lineleader.h.

bool LLsetKi	(	tSensors	link,
		ubyte	data,
		ubyte	factor
	)

WRITE Ki value

Set the "Ki" value for the sensor's internal PID calculations.
This value is usually set close to 0 default 0/1
EXPECTED VALUES: 0 to 255
DEFAULT VALUE: 0
EXPECTED FACTORS: 1 to 255
DEFAULT FACTOR: 1

Parameters:

link	the sensor port number
data	- the value to set Ki
factor	- the Ki factor where i = Ki/Kifactor

Returns:: true if no error occured, false if it did

Examples:: mindsensors-lineleader-test3.c.

Definition at line 440 of file mindsensors-lineleader.h.

bool LLsetKp	(	tSensors	link,
		ubyte	data,
		ubyte	factor
	)

WRITE Kp value

Set the "Kp" value for the sensor's internal PID calculations.
This value is usually set close to 1.0 default 25/32
EXPECTED VALUES: 0 to 255
DEFAULT VALUE: 25
EXPECTED FACTORS: 1 to 255
DEFAULT FACTOR: 32

Parameters:

link	the sensor port number
data	- the value to set Kp
factor	- the Kp factor where p = Kp/Kpfactor

Returns:: true if no error occured, false if it did

Examples:: mindsensors-lineleader-test3.c.

Definition at line 396 of file mindsensors-lineleader.h.

bool LLsetPoint	(	tSensors	link,
		ubyte	data
	)

WRITE mid-point or center of line value

The set point is used by internally (or externally) by the sensor to determine the middle of the sensor over a line. This value is compared to the average value to help the robot know if it is left or right of center.

Parameters:

link	the sensor port number
data	- the value to set the set point to

Returns:: true if no error occured, false if it did

Definition at line 346 of file mindsensors-lineleader.h.

int LLsetPoint ( tSensors link )

READ SetPoint value

This function reads the setpoint value from the sensor

Parameters:

link	the sensor port number

Returns:: value of setpoint

Definition at line 356 of file mindsensors-lineleader.h.

bool LLsleep ( tSensors link )

Sleep to conserve power when not in use

This function puts the line leader to sleep conserve power.

Parameters:

link	the sensor port number

Returns:: true if no error occured, false if it did

Definition at line 264 of file mindsensors-lineleader.h.

bool LLtakeSnapshot ( tSensors link )

takes a snapshot to determine line color

This function takes a snapshot of the line under the sensor and tracks that position in subsequent tracking operations. Also this function will set inversion if it sees white line on dark background

Parameters: