hitechnic-angle-SMUX-test1.c

#pragma config(Sensor, S1,     HTSMUX,              sensorI2CCustom)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*
 * $Id: hitechnic-angle-SMUX-test1.c 133 2013-03-10 15:15:38Z xander $
 */

/**
 * hitechnic-angle.h provides an API for the HiTechnic Angle Sensor.  This program
 * demonstrates how to use that API.
 *
 * Changelog:
 * - 0.1: Initial release
 * - 0.2: Now uses HTSMUX driver which has been split from common.h\n
 *        HTSMUX initialisation and scanning functions have been removed\n
 *
 * Credits:
 * - Big thanks to HiTechnic for providing me with the hardware necessary to write and test this.
 *
 * License: You may use this code as you wish, provided you give credit where it's due.
 *
 * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. 

 * Xander Soldaat (xander_at_botbench.com)
 * date 20 February 2011
 * version 0.2
 */

#include "drivers/hitechnic-sensormux.h"
#include "drivers/hitechnic-angle.h"

// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1.  If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3

// Give the sensor a nice easy to use name
const tMUXSensor HTANG = msensor_S1_1;

task main () {
  nNxtButtonTask  = -2;
  nxtDisplayCenteredTextLine(0, "HiTechnic");
  nxtDisplayCenteredBigTextLine(1, "Angle");
  nxtDisplayCenteredTextLine(3, "SMUX Test");
  nxtDisplayCenteredTextLine(5, "Connect SMUX to");
  nxtDisplayCenteredTextLine(6, "S1 and ANG to");
  nxtDisplayCenteredTextLine(7, "SMUX Port 1");
  wait1Msec(2000);

  eraseDisplay();
  nxtDisplayCenteredTextLine(0, "HiTechnic Angle");
  nxtDisplayTextLine(1, "-------------------");
  nxtDisplayTextLine(5, "-------------------");

  while (true) {
    // The accumulated angle or the zero point cannot be reset when connected
    // to a SMUX

    // Read the current angle, accumulated angle and RPM and display them
    nxtDisplayTextLine(2, "Ang: %7d deg", HTANGreadAngle(HTANG));
    nxtDisplayTextLine(3, "Tot: %7d deg", HTANGreadAccumulatedAngle(HTANG));
    nxtDisplayTextLine(4, "RPM: %7d", HTANGreadRPM(HTANG));
    wait1Msec(50);
  }
}


/*
 * $Id: hitechnic-angle-SMUX-test1.c 133 2013-03-10 15:15:38Z xander $
 */