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Defines | |
#define | hem_Switch1 (1<<0) |
#define | hem_Switch2 (1<<1) |
#define | hem_Switch3 (1<<2) |
#define | hem_Switch4 (1<<3) |
#define | hem_LedOnOff (1<<0) |
#define | hem_LedPgmExec (1<<1) |
#define | hem_LedFrontLeft (1<<2) |
#define | hem_LedFrontRight (1<<3) |
#define | hem_SensorFront 0 |
#define | hem_SensorFrontRight 1 |
#define | hem_SensorFrontLeft 2 |
#define | hem_SensorRight 3 |
#define | hem_SensorLeft 4 |
#define | hem_SensorRear 5 |
#define | hem_SensorGroundRight 6 |
#define | hem_SensorGroundLeft 7 |
#define | hem_SensorMax 8 |
#define | hem_open() knet_open( "KoreBot:Hemission" ) |
#define | hem_close(dev) knet_close( dev) |
Functions | |
int | hem_getVersion (knet_dev_t *dev) |
int | hem_setSpeed (knet_dev_t *dev, int left, int right) |
int | hem_beep (knet_dev_t *dev, unsigned int state) |
int | hem_readSwitches (knet_dev_t *dev, unsigned int *state) |
int | hem_setLEDs (knet_dev_t *dev, unsigned int state) |
int | hem_readProximitySensors (knet_dev_t *dev, unsigned char *sensors) |
int | hem_readAmbientLightSensors (knet_dev_t *dev, unsigned char *sensors) |
int | hem_readTVRemote (knet_dev_t *dev, unsigned char *value) |
int | hem_readI2C (knet_dev_t *dev, unsigned char slave, unsigned char reg, unsigned char *data, unsigned char count) |
int | hem_writeI2C (knet_dev_t *dev, unsigned char slave, unsigned char reg, unsigned char *data, unsigned char count) |
int | hem_fastRead (knet_dev_t *dev, unsigned char *motorLeft, unsigned char *motorRight, unsigned char *proximitySensors, unsigned char *ambientLightSensors, unsigned char *switches, unsigned char *tvRemoteData, unsigned char *version, unsigned char *revision) |
int | hem_fastWrite (knet_dev_t *dev, unsigned char motorLeft, unsigned char motorRight, unsigned char ledState) |
#define hem_close | ( | dev | ) | knet_close( dev) |
#define hem_LedFrontLeft (1<<2) |
#define hem_LedFrontRight (1<<3) |
#define hem_LedOnOff (1<<0) |
#define hem_LedPgmExec (1<<1) |
#define hem_open | ( | ) | knet_open( "KoreBot:Hemission" ) |
#define hem_SensorFront 0 |
#define hem_SensorMax 8 |
Definition at line 41 of file hem.h.
Referenced by hem_fastRead(), hem_readAmbientLightSensors(), and hem_readProximitySensors().
#define hem_Switch1 (1<<0) |
Hemission Switch Bitmasks Definition
Definition at line 17 of file hem.h.
Referenced by hem_readSwitches().
#define hem_Switch2 (1<<1) |
#define hem_Switch3 (1<<2) |
#define hem_Switch4 (1<<3) |
int hem_beep | ( | knet_dev_t * | dev, | |
unsigned int | state | |||
) |
This function changes the state of the continous beeper.
Definition at line 102 of file hem.c.
References buf, knet_printf(), and knet_read_string().
int hem_fastRead | ( | knet_dev_t * | dev, | |
unsigned char * | motorLeft, | |||
unsigned char * | motorRight, | |||
unsigned char * | proximitySensors, | |||
unsigned char * | ambientLightSensors, | |||
unsigned char * | switches, | |||
unsigned char * | tvRemoteData, | |||
unsigned char * | version, | |||
unsigned char * | revision | |||
) |
This function reads all input of the Hemisson Robot.
dev | K-Net Device Descriptor | |
motorLeft | Left motor state | |
motorRight | Right motor state | |
proximitySensors | An array of size hem_SensorMax containing the proximity intensity for each sensor (range [0..255]). The smaller is the value, the further is the object. | |
ambientLightSensors | An array of size hem_SensorMax containing the ambient light intensity for each sensor | |
switches | 4-bit switch value | |
tvRemoveData | TV remote last data received | |
version | HemiOS version number | |
revision | HemiOS revision number |
Definition at line 397 of file hem.c.
References buf, hem_SensorMax, knet_llread(), and knet_printf().
int hem_fastWrite | ( | knet_dev_t * | dev, | |
unsigned char | motorLeft, | |||
unsigned char | motorRight, | |||
unsigned char | ledState | |||
) |
This function changes the motor speed and the led state.
dev | K-Net Device Descriptor | |
motorLeft | Left motor speed | |
motorRight | Right motor speed | |
ledState | Led state |
Definition at line 470 of file hem.c.
References buf, knet_printf(), and knet_read_string().
int hem_getVersion | ( | knet_dev_t * | dev | ) |
int hem_readAmbientLightSensors | ( | knet_dev_t * | dev, | |
unsigned char * | sensors | |||
) |
This function reads the ambient light using the infra-red sensors.
dev | K-Net Device Descriptor | |
sensor | An array of size hem_SensorMax containing the ambient light intensity for each sensor (range [0..255]). The smaller is the value, the more infra-red light is detected. |
Definition at line 241 of file hem.c.
References buf, hem_SensorMax, knet_printf(), and knet_read_string().
int hem_readI2C | ( | knet_dev_t * | dev, | |
unsigned char | slave, | |||
unsigned char | reg, | |||
unsigned char * | data, | |||
unsigned char | count | |||
) |
This function reads a given number of registers of an I²C peripheral.
dev | K-Net device descriptor | |
slave | I²C Slave address | |
reg | I²C Start register | |
data | I²C Data read | |
count | Number of registers to read |
Definition at line 310 of file hem.c.
References buf, knet_printf(), and knet_read_string().
int hem_readProximitySensors | ( | knet_dev_t * | dev, | |
unsigned char * | sensors | |||
) |
This function reads the proximity of an object using the infra-red sensors.
dev | K-Net Device Descriptor | |
sensor | An array of size hem_SensorMax containing the proximity intensity for each sensor (range [0..255]). The smaller is the value, the further is the object. |
Definition at line 201 of file hem.c.
References buf, hem_SensorMax, knet_printf(), and knet_read_string().
int hem_readSwitches | ( | knet_dev_t * | dev, | |
unsigned int * | state | |||
) |
Definition at line 123 of file hem.c.
References buf, hem_Switch1, hem_Switch2, hem_Switch3, hem_Switch4, knet_printf(), and knet_read_string().
int hem_readTVRemote | ( | knet_dev_t * | dev, | |
unsigned char * | value | |||
) |
This function reads the last character received from the TV remote.
Definition at line 275 of file hem.c.
References buf, knet_printf(), and knet_read_string().
int hem_setLEDs | ( | knet_dev_t * | dev, | |
unsigned int | state | |||
) |
This function changes the LED state.
dev | K-Net Device Descriptor | |
state | New Led State |
Definition at line 169 of file hem.c.
References buf, hem_LedFrontLeft, hem_LedFrontRight, hem_LedOnOff, hem_LedPgmExec, knet_printf(), and knet_read_string().
int hem_setSpeed | ( | knet_dev_t * | dev, | |
int | left, | |||
int | right | |||
) |
This function changes the speed of the left & right motor of the Hemission robot.
dev | K-Net Device Descriptor | |
left | Left Motor Speed. (range [-9..9]) | |
right | Right Motor Speed. (range [-9..9]) |
Definition at line 76 of file hem.c.
References buf, knet_printf(), and knet_read_string().
int hem_writeI2C | ( | knet_dev_t * | dev, | |
unsigned char | slave, | |||
unsigned char | reg, | |||
unsigned char * | data, | |||
unsigned char | count | |||
) |
This function writes a given number of registers to an I²C peripheral.
Definition at line 347 of file hem.c.
References buf, knet_printf(), and knet_read_string().