hitechnic-irlink.h File Reference

HiTechnic IR Link Sensor driver. More...

#include "common.h"

Go to the source code of this file.

Defines
#define	BUF_HEADSIZE   3
#define	BUF_DATASIZE   11
#define	BUF_TAILSIZE   3
#define	START_HEAD   0
#define	START_DATA   3
#define	START_TAIL   15
#define	PFSPORT(X)   X / 8
#define	PFCHAN(X)   (X % 8) / 2
#define	PFMOT(X)   X % 2
Enumerations
enum	tPFmotor {   pfmotor_S1_C1_A = 0, pfmotor_S1_C1_B, pfmotor_S1_C2_A, pfmotor_S1_C2_B,   pfmotor_S1_C3_A, pfmotor_S1_C3_B, pfmotor_S1_C4_A, pfmotor_S1_C4_B,   pfmotor_S2_C1_A, pfmotor_S2_C1_B, pfmotor_S2_C2_A, pfmotor_S2_C2_B,   pfmotor_S2_C3_A, pfmotor_S2_C3_B, pfmotor_S2_C4_A, pfmotor_S2_C4_B,   pfmotor_S3_C1_A, pfmotor_S3_C1_B, pfmotor_S3_C2_A, pfmotor_S3_C2_B,   pfmotor_S3_C3_A, pfmotor_S3_C3_B, pfmotor_S3_C4_A, pfmotor_S3_C4_B,   pfmotor_S4_C1_A, pfmotor_S4_C1_B, pfmotor_S4_C2_A, pfmotor_S4_C2_B,   pfmotor_S4_C3_A, pfmotor_S4_C3_B, pfmotor_S4_C4_A, pfmotor_S4_C4_B }
enum	ePWMMotorCommand {   MOTOR_FLOAT = 0, MOTOR_FWD_PWM_1 = 1, MOTOR_FWD_PWM_2 = 2, MOTOR_FWD_PWM_3 = 3,   MOTOR_FWD_PWM_4 = 4, MOTOR_FWD_PWM_5 = 5, MOTOR_FWD_PWM_6 = 6, MOTOR_FWD_PWM_7 = 7,   MOTOR_BRAKE = 8, MOTOR_REV_PWM_7 = 9, MOTOR_REV_PWM_6 = 10, MOTOR_REV_PWM_5 = 11,   MOTOR_REV_PWM_4 = 12, MOTOR_REV_PWM_3 = 13, MOTOR_REV_PWM_2 = 14, MOTOR_REV_PWM_1 = 15 }
enum	eCDMMotorCommand { CDM_MOTOR_FLOAT = 0, CDM_MOTOR_FWD = 1, CDM_MOTOR_BAK = 2, CDM_MOTOR_BRAKE = 3 }
Functions
void	PFcomboDirectMode (tSensors link, int channel, eCDMMotorCommand _motorB, eCDMMotorCommand _motorA)
void	PFcomboPwmMode (tSensors link, int channel, ePWMMotorCommand _motorB, ePWMMotorCommand _motorA)
void	encodeBuffer (tByteArray &iBuffer, tByteArray &oBuffer)
void	transmitIR (tSensors link, tByteArray &oBuffer, int channel)
void	decToBin (int number, int length, string &output)
void	debugIR (tByteArray &data)
void	PFsinglePinOutputMode (tSensors link, ubyte channel, ubyte _motor, ePWMMotorCommand _motorCmd)
void	PFMotor (tPFmotor pfmotor, ePWMMotorCommand _motorCmd)
Variables
byte	toggle [4] = {0, 0, 0, 0}

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Detailed Description

HiTechnic IR Link Sensor driver.

hitechnic-irlink.h provides an API for the HiTechnic IR Link Sensor.

Changelog:

• 1.0: Initial release
• 1.1: Minor changes
• 1.2: Rewrite to make use of the new common.h API
• 1.3: Clarified port numbering
• 1.4: Removed inline functions
• 1.5: Added PFsinglePinOutputMode() functionality to control motors without a timeout
  Added PFmotor() as a wrapper for PFsinglePinOutputMode()
  eCPMMotorCommand has been replaced with more generic ePWMMotorCommand
  transmitIR() now works according to the specs
  

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 its due.

THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER.

Author:

Xander Soldaat (xander_at_botbench.com)

Date:

25 May 2010

Version:

1.4

Definition in file hitechnic-irlink.h.