Files
file	HTIRL-driver.h
	HiTechnic IR Link Sensor driver.
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, byte channel, byte _motor, ePWMMotorCommand _motorCmd)
void	PFMotor (tPFmotor pfmotor, ePWMMotorCommand _motorCmd)
Variables
byte	toggle [4] = {0, 0, 0, 0}

Detailed Description

HiTechnic IR Link Sensor driver

Define Documentation

#define BUF_DATASIZE 11

max size of encoded buffer

Definition at line 57 of file HTIRL-driver.h.

#define BUF_HEADSIZE 3

I2C buff size, address and register

Definition at line 56 of file HTIRL-driver.h.

#define BUF_TAILSIZE 3

IR data length, IR Link mode and start transmission

Definition at line 58 of file HTIRL-driver.h.

#define PFCHAN ( X ) (X % 8) / 2

Definition at line 64 of file HTIRL-driver.h.

#define PFMOT ( X ) X % 2

Definition at line 65 of file HTIRL-driver.h.

#define PFSPORT ( X ) X / 8

Definition at line 63 of file HTIRL-driver.h.

#define START_DATA 3

index of start of data payload

Definition at line 60 of file HTIRL-driver.h.

#define START_HEAD 0

index of start of header

Definition at line 59 of file HTIRL-driver.h.

#define START_TAIL 15

index of start of tail

Definition at line 61 of file HTIRL-driver.h.

Enumeration Type Documentation

enum eCDMMotorCommand

Enumerator:

CDM_MOTOR_FLOAT	Float the motor
CDM_MOTOR_FWD	Forward
CDM_MOTOR_BAK	Reverse
CDM_MOTOR_BRAKE	Brake the motor

Definition at line 127 of file HTIRL-driver.h.

enum ePWMMotorCommand

Enumerator:

MOTOR_FLOAT	Float the motor
MOTOR_FWD_PWM_1	Forward speed 1
MOTOR_FWD_PWM_2	Forward speed 2
MOTOR_FWD_PWM_3	Forward speed 3
MOTOR_FWD_PWM_4	Forward speed 4
MOTOR_FWD_PWM_5	Forward speed 5
MOTOR_FWD_PWM_6	Forward speed 6
MOTOR_FWD_PWM_7	Forward speed 7
MOTOR_BRAKE	Brake the motor
MOTOR_REV_PWM_7	Reverse speed 7
MOTOR_REV_PWM_6	Reverse speed 6
MOTOR_REV_PWM_5	Reverse speed 5
MOTOR_REV_PWM_4	Reverse speed 4
MOTOR_REV_PWM_3	Reverse speed 3
MOTOR_REV_PWM_2	Reverse speed 2
MOTOR_REV_PWM_1	Reverse speed 1

Definition at line 107 of file HTIRL-driver.h.

enum tPFmotor

Enumerator:

pfmotor_S1_C1_A	Motor A, Channel 1, IR Link connected to S1
pfmotor_S1_C1_B	Motor B, Channel 1, IR Link connected to S1
pfmotor_S1_C2_A	Motor A, Channel 2, IR Link connected to S1
pfmotor_S1_C2_B	Motor B, Channel 2, IR Link connected to S1
pfmotor_S1_C3_A	Motor A, Channel 3, IR Link connected to S1
pfmotor_S1_C3_B	Motor B, Channel 3, IR Link connected to S1
pfmotor_S1_C4_A	Motor A, Channel 4, IR Link connected to S1
pfmotor_S1_C4_B	Motor B, Channel 4, IR Link connected to S1
pfmotor_S2_C1_A	Motor A, Channel 1, IR Link connected to S2
pfmotor_S2_C1_B	Motor B, Channel 1, IR Link connected to S2
pfmotor_S2_C2_A	Motor A, Channel 2, IR Link connected to S2
pfmotor_S2_C2_B	Motor B, Channel 2, IR Link connected to S2
pfmotor_S2_C3_A	Motor A, Channel 3, IR Link connected to S2
pfmotor_S2_C3_B	Motor B, Channel 3, IR Link connected to S2
pfmotor_S2_C4_A	Motor A, Channel 4, IR Link connected to S2
pfmotor_S2_C4_B	Motor B, Channel 4, IR Link connected to S2
pfmotor_S3_C1_A	Motor A, Channel 1, IR Link connected to S3
pfmotor_S3_C1_B	Motor B, Channel 1, IR Link connected to S3
pfmotor_S3_C2_A	Motor A, Channel 2, IR Link connected to S3
pfmotor_S3_C2_B	Motor B, Channel 2, IR Link connected to S3
pfmotor_S3_C3_A	Motor A, Channel 3, IR Link connected to S3
pfmotor_S3_C3_B	Motor B, Channel 3, IR Link connected to S3
pfmotor_S3_C4_A	Motor A, Channel 4, IR Link connected to S3
pfmotor_S3_C4_B	Motor B, Channel 4, IR Link connected to S3
pfmotor_S4_C1_A	Motor A, Channel 1, IR Link connected to S4
pfmotor_S4_C1_B	Motor B, Channel 1, IR Link connected to S4
pfmotor_S4_C2_A	Motor A, Channel 2, IR Link connected to S4
pfmotor_S4_C2_B	Motor B, Channel 2, IR Link connected to S4
pfmotor_S4_C3_A	Motor A, Channel 3, IR Link connected to S4
pfmotor_S4_C3_B	Motor B, Channel 3, IR Link connected to S4
pfmotor_S4_C4_A	Motor A, Channel 4, IR Link connected to S4
pfmotor_S4_C4_B	Motor B, Channel 4, IR Link connected to S4

Definition at line 70 of file HTIRL-driver.h.

Function Documentation

void debugIR ( tByteArray & data )

Print out the buffer in question to the screen using the following format:

0 11001100 0xCC

It pauses for 10 seconds between each screenful, accompanied by a beep.

Note: this function is only available when driver is compiled with _DEBUG_DRIVER_ defined.

Parameters:

data	the data to be displayed as binary/hex numbers

Definition at line 178 of file HTIRL-driver.h.

void decToBin	(	int	number,
		int	length,
		string &	output
	)

Returns a binary representation in a string of an int with specified length

Note: this function is only available when driver is compiled with _DEBUG_DRIVER_ defined.

Parameters:

number	the number to be converted to a binary representation
length	number of bits to convert
output	the number converted to binary representation

Definition at line 155 of file HTIRL-driver.h.

void encodeBuffer	(	tByteArray &	iBuffer,
		tByteArray &	oBuffer
	)

Encode the input buffer into a special format for the IRLink.

Note: this is an internal function and should not be called directly.

Parameters:

iBuffer	the data that is be encoded
oBuffer	output buffer for encoded data

Definition at line 343 of file HTIRL-driver.h.

void PFcomboDirectMode	(	tSensors	link,
		int	channel,
		eCDMMotorCommand	_motorB,
		eCDMMotorCommand	_motorA
	)

Control two motors using the ComboDirectMode. This mode does not allow for fine grained speed control.

Parameters:

link	the sensor port number
channel	the channel of the receiver we wish to communicate with, numbered 0-3
_motorB	the command to be sent to Motor B
_motorA	the command to be sent to Motor A

Examples:: HTIRL-test1.c.

Definition at line 203 of file HTIRL-driver.h.

void PFcomboPwmMode	(	tSensors	link,
		int	channel,
		ePWMMotorCommand	_motorB,
		ePWMMotorCommand	_motorA
	)

Control two motors using the ComboPWMMode. This mode allows for fine grained speed control.

Parameters:

link	the sensor port number
channel	the channel of the receiver we wish to communicate with, numbered 0-3
_motorB	the command to be sent to Motor B
_motorA	the command to be sent to Motor A

Examples:: HTIRL-test1.c.

Definition at line 248 of file HTIRL-driver.h.

void PFMotor	(	tPFmotor	pfmotor,
		ePWMMotorCommand	_motorCmd
	)

Control one motor with no timeout. This mode allows for fine grained speed control.

Parameters:

pfmotor	the motor to which to send the command
_motorCmd	the command to send to the motor, 0-15

Examples:: HTIRL-test1.c.

Definition at line 331 of file HTIRL-driver.h.

void PFsinglePinOutputMode	(	tSensors	link,
		byte	channel,
		byte	_motor,
		ePWMMotorCommand	_motorCmd
	)

Control one motor with no timeout. This mode allows for fine grained speed control.

Parameters:

link	the sensor port number
channel	the channel of the receiver we wish to communicate with, numbered 0-3
_motor	the motor to be controlled, 0 or 1, for A or B
_motorCmd	the command to send to the motor, 0-15

Examples:: HTIRL-test1.c.

Definition at line 294 of file HTIRL-driver.h.

void transmitIR	(	tSensors	link,
		tByteArray &	oBuffer,
		int	channel
	)

Send the command to the IRLink Sensor for transmission.

Note: this is an internal function and should not be called directly. If the driver is compiled with _DEBUG_DRIVER_, this function will call debugIR() prior to transmitting the data for debugging purposes.

Parameters:

link	the sensor port number
oBuffer	the data that is be transmitted
channel	the channel number of the receiver

Definition at line 390 of file HTIRL-driver.h.

Variable Documentation

byte toggle[4] = {0, 0, 0, 0}

Motor connections

Definition at line 67 of file HTIRL-driver.h.

IR Link Sensor [HiTechnic]

Files

Defines

Enumerations

Functions

Variables

Detailed Description

Define Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation

IR Link Sensor
[HiTechnic]