PFMate Sensor [Mindsensors]

Files
file	mindsensors-pfmate.h
	Mindsensors PFMate Sensor driver.
Defines
#define	MSPFM_I2C_ADDR   0x48
#define	MSPFM_CMD   0x41
#define	MSPFM_IRCHAN   0x42
#define	MSPFM_MSELECT   0x43
#define	MSPFM_MOTOPA   0x44
#define	MSPFM_MOTSPA   0x45
#define	MSPFM_MOTOPB   0x46
#define	MSPFM_MOTSPB   0x47
#define	MSPFM_GOCMD   0x47
#define	MSPFM_MOTORAB   0x00
#define	MSPFM_MOTORA   0x01
#define	MSPFM_MOTORB   0x02
#define	MSPFM_FLOAT   0x00
#define	MSPFM_FORWARD   0x01
#define	MSPFM_REVERSE   0x02
#define	MSPFM_BRAKE   0x03
#define	MSPFM_NOOP   0x0F
Functions
bool	MSPFMcontrolMotorA (tSensors link, byte chan, byte motor_op, byte motor_speed, ubyte address=MSPFM_I2C_ADDR)
bool	MSPFMcontrolMotorB (tSensors link, byte chan, byte motor_op, byte motor_speed, ubyte address=MSPFM_I2C_ADDR)
bool	MSPFMcontrolMotorAB (tSensors link, byte chan, byte motorA_op, byte motorA_speed, byte motorB_op, byte motorB_speed, ubyte address=MSPFM_I2C_ADDR)
Variables
tByteArray	MSPFM_I2CRequest

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Detailed Description

PFMate Sensor

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Define Documentation

#define MSPFM_BRAKE   0x03

Examples:

mindsensors-pfmate-test1.c.

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

#define MSPFM_CMD   0x41

Command register

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

#define MSPFM_FLOAT   0x00

Examples:

mindsensors-pfmate-test1.c.

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

#define MSPFM_FORWARD   0x01

Examples:

mindsensors-pfmate-test1.c.

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

#define MSPFM_GOCMD   0x47

"Go" command to start sending IR signals to PF receiver

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

#define MSPFM_I2C_ADDR   0x48

I2C address for sensor

Definition at line 42 of file mindsensors-pfmate.h.

#define MSPFM_IRCHAN   0x42

IR Channel selection register

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

#define MSPFM_MOTOPA   0x44

Motor A operation register

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

#define MSPFM_MOTOPB   0x46

Motor B operation register

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

#define MSPFM_MOTORA   0x01

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

#define MSPFM_MOTORAB   0x00

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

#define MSPFM_MOTORB   0x02

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

#define MSPFM_MOTSPA   0x45

Motor A speed register

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

#define MSPFM_MOTSPB   0x47

Motor B speed register

Definition at line 49 of file mindsensors-pfmate.h.

#define MSPFM_MSELECT   0x43

Motor selection register

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

#define MSPFM_NOOP   0x0F

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

#define MSPFM_REVERSE   0x02

Examples:

mindsensors-pfmate-test1.c.

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

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Function Documentation

bool MSPFMcontrolMotorA	(	tSensors	link,
		byte	chan,
		byte	motor_op,
		byte	motor_speed,
		ubyte	address
	)

Control motor A with the PFMate.

Parameters:

link	the PFMate port number
chan	the channel of the IR receiver, value of 1-4
motor_op	motor A operation, 0: float, 1: forward, 2: reverse, 3: brake
motor_speed	the speed at which motor A should turn, value between 1-7
address	the I2C address to use, optional, defaults to 0x48

Returns:

true if no error occured, false if it did

Examples:

mindsensors-pfmate-test1.c.

Definition at line 82 of file mindsensors-pfmate.h.

bool MSPFMcontrolMotorAB	(	tSensors	link,
		byte	chan,
		byte	motorA_op,
		byte	motorA_speed,
		byte	motorB_op,
		byte	motorB_speed,
		ubyte	address
	)

Control motors A and B with the PFMate.

Parameters:

link	the PFMate port number
chan	the channel of the IR receiver, value of 1-4
motorA_op	motor A operation, 0: float, 1: forward, 2: reverse, 3: brake
motorA_speed	the speed at which motor A should turn, value between 1-7
motorB_op	motor B operation, 0: float, 1: forward, 2: reverse, 3: brake
motorB_speed	the speed at which motor B should turn, value between 1-7
address	the I2C address to use, optional, defaults to 0x48

Returns:

true if no error occured, false if it did

Examples:

mindsensors-pfmate-test1.c.

Definition at line 114 of file mindsensors-pfmate.h.

bool MSPFMcontrolMotorB	(	tSensors	link,
		byte	chan,
		byte	motor_op,
		byte	motor_speed,
		ubyte	address
	)

Control motor B with the PFMate.

Parameters:

link	the PFMate port number
chan	the channel of the IR receiver, value of 1-4
motor_op	motor B operation, 0: float, 1: forward, 2: reverse, 3: brake
motor_speed	the speed at which motor B should turn, value between 1-7
address	the I2C address to use, optional, defaults to 0x48

Returns:

true if no error occured, false if it did

Examples:

mindsensors-pfmate-test1.c.

Definition at line 97 of file mindsensors-pfmate.h.

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Variable Documentation

tByteArray MSPFM_I2CRequest

Array to hold I2C command data

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