mindsensors-lineleader.h File Reference

Mindsensors Line Tracking Sensor. More...

#include "common.h"

Go to the source code of this file.

Defines
#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	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	LL_I2CRequest
tByteArray	LL_I2CReply
ubyte	oneByte

---

Detailed Description

Mindsensors Line Tracking Sensor.

mindsensors-lineleader.h provides an API for the Mindsensors Line Tracking Sensor.

Changelog:

• 0.1 Initial TFR
  
• 0.2 Added ability to read multi-ubyte values for raw, white and black thresholds.
  
• 0.3 Added PID factor registers (Read/Write), Added new commands 'S'napShot, 'R'eset, and changed function and method names to be more C++ like.
  
• 0.4 Modified to conform to new "naming standard" and be part of the driver suite.
  changed all (int) casts to ubyteToInt() calls.
  all direct I2C calls changed to readI2C() and writeI2C() calls.
• 0.5 Bug in LLreadSteering fixed
• 0.6 Added LLreadSensorUncalibrated

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.

Author:

Thom Roach

Xander Soldaat (version 0.4+)

Date:

29 October 2009

Version:

0.6

Definition in file mindsensors-lineleader.h.