3rd Party ROBOTC Drivers

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00001 /*!@addtogroup HiTechnic
00002  * @{
00003  * @defgroup httmux Touch Sensor MUX
00004  * HiTechnic Touch Sensor MUX
00005  * @{
00006  */
00007 
00008 /*
00009  * $Id: HTTMUX-driver.h 29 2010-06-25 12:55:41Z xander $
00010  */
00011 
00012 #ifndef __HTTMUX_H__
00013 #define __HTTMUX_H__
00014 /** \file HTTMUX-driver.h
00015  * \brief HiTechnic Touch Sensor Multiplexer Sensor driver
00016  *
00017  * HTTMUX-driver.h provides an API for the HiTechnic Touch Sensor Multiplexer Sensor.
00018  *
00019  * Changelog:
00020  * - 0.1: Initial release
00021  *
00022  * Credits:
00023  * - Big thanks to HiTechnic for providing me with the hardware necessary to write and test this.
00024  *
00025  * License: You may use this code as you wish, provided you give credit where its due.
00026  *
00027  * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 2.00 AND HIGHER.
00028  * \author Xander Soldaat (mightor_at_gmail.com)
00029  * \date 15 March 2009
00030  * \version 0.1
00031  * \example HTTMUX-test1.c
00032  */
00033 
00034 #pragma systemFile
00035 
00036 int HTTMUXgetActive(tSensors link);
00037 bool HTTMUXisActive(tSensors link, int touch);
00038 
00039 /**
00040  * Read the value of all of the currently connected touch sensors.  The status is logically OR'd
00041  * together. Touch 1 = 1, Touch 2 = 2, Touch 3 = 4, Touch 4 = 8.  If Touch 1 and 3 are active,
00042  * the return value will be 1 + 4 == 5.
00043  * @param link the HTTMUX port number
00044  * @return the value of the switches status
00045  */
00046 int HTTMUXgetActive(tSensors link) {
00047   long muxvalue = 0;
00048   long switches = 0;
00049 
00050   // Make sure the sensor is configured as type sensorRawValue
00051   if (SensorType[link] != sensorRawValue) {
00052     SetSensorType(link, sensorRawValue);
00053     wait1Msec(100);
00054   }
00055 
00056   // Voodoo magic starts here.  This is taken straight from the Touch MUX pamphlet.
00057   // No small furry animals were hurt during the calculation of this algorithm.
00058   muxvalue = 1023 - SensorRaw[link];
00059   switches = 339 * muxvalue;
00060   switches /= (1023 - muxvalue);
00061   switches += 5;
00062   switches /= 10;
00063 
00064   return (int)switches;
00065 }
00066 
00067 /**
00068  * Read the value of specific touch sensor.
00069  * @param link the HTTMUX port number
00070  * @param touch the touch sensor to be checked, numbered 1 to 4.
00071  * @return the value of the switches status
00072  */
00073 bool HTTMUXisActive(tSensors link, int touch) {
00074   if (HTTMUXgetActive(link) & (1 << (touch - 1)))
00075     return true;
00076   else
00077     return false;
00078 }
00079 
00080 #endif // __HTTMUX_H__
00081 
00082 /*
00083  * $Id: HTTMUX-driver.h 29 2010-06-25 12:55:41Z xander $
00084  */
00085 /* @} */
00086 /* @} */