IR Link RCX comms [HiTechnic]

Files
file	HTRCX-driver.h
	HiTechnic IR Link RCX Comms Driver.
Functions
bool	HTRCXsendHeader (tSensors link)
void	HTRCXencode (tSensors link, tByteArray &iBuffer, tByteArray &oBuffer)
bool	HTRCXreadResp (tSensors link, tByteArray &response)
bool	HTRCXplaySound (tSensors link, unsigned byte sound)
bool	HTRCXsendByte (tSensors link, unsigned byte data)
bool	HTRCXsendWord (tSensors link, short data)
bool	HTRCXmotorOn (tSensors link, unsigned byte _motor)
bool	HTRCXmotorOff (tSensors link, unsigned byte _motor)
bool	HTRCXmotorFwd (tSensors link, unsigned byte _motor)
bool	HTRCXmotorRev (tSensors link, unsigned byte _motor)
bool	HTRCXmotorPwr (tSensors link, unsigned byte _motor, unsigned byte power)
Variables
tByteArray	HTRCXI2CRequest
tByteArray	HTRCXI2CReply
tByteArray	HTRCXIRMsg
byte	HTRCXCmdToggle = 0

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Detailed Description

HiTechnic IR Link RCX Comms Driver

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Function Documentation

void HTRCXencode	(	tSensors	link,
		tByteArray &	iBuffer,
		tByteArray &	oBuffer
	)

This encodes the message into the standard RCX format with opcodes, data and their complements, followed by a checksum.
The output is an I2C message that can be sent to the IR Link.
This does NOT send the IR message header.

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

Parameters:

link	the sensor port number
iBuffer	the IR message that is to be sent by the IR Link to the RCX
oBuffer	the I2C message to be sent to the IR Link

Definition at line 98 of file HTRCX-driver.h.

bool HTRCXmotorFwd	(	tSensors	link,
		unsigned byte	_motor
	)

Move the specified motor forward

NOTE: This does not currently work with the ROBOTC firmware on the RCX

Parameters:

link	the sensor port number
_motor	the motor channel to move forward

Returns:

true if no error occured, false if it did

Definition at line 300 of file HTRCX-driver.h.

bool HTRCXmotorOff	(	tSensors	link,
		unsigned byte	_motor
	)

Turn the specified motor off

NOTE: This does not currently work with the ROBOTC firmware on the RCX

Parameters:

link	the sensor port number
_motor	the motor channel to turn off

Returns:

true if no error occured, false if it did

Definition at line 275 of file HTRCX-driver.h.

bool HTRCXmotorOn	(	tSensors	link,
		unsigned byte	_motor
	)

Turn the specified motor on

NOTE: This does not currently work with the ROBOTC firmware on the RCX

Parameters:

link	the sensor port number
_motor	the motor channel to turn on

Returns:

true if no error occured, false if it did

Definition at line 250 of file HTRCX-driver.h.

bool HTRCXmotorPwr	(	tSensors	link,
		unsigned byte	_motor,
		unsigned byte	power
	)

Set the motor power.

NOTE: This does not currently work with the ROBOTC firmware on the RCX

Parameters:

link	the sensor port number
_motor	the motor channel to change the power level of
power	the amount of power to be applied to the motor

Returns:

true if no error occured, false if it did

Definition at line 351 of file HTRCX-driver.h.

bool HTRCXmotorRev	(	tSensors	link,
		unsigned byte	_motor
	)

Move the specified motor reverse

NOTE: This does not currently work with the ROBOTC firmware on the RCX

Parameters:

link	the sensor port number
_motor	the motor channel to move reverse

Returns:

true if no error occured, false if it did

Definition at line 325 of file HTRCX-driver.h.

bool HTRCXplaySound	(	tSensors	link,
		unsigned byte	sound
	)

Tell the RCX to play a sound. Sounds are numbered 0-5

Parameters:

link	the sensor port number
sound	the sound to play, numbered 0-6

Returns:

true if no error occured, false if it did

Definition at line 180 of file HTRCX-driver.h.

bool HTRCXreadResp	(	tSensors	link,
		tByteArray &	response
	)

Read a message sent by the RCX. You will need to poll frequently to check if a message has been sent. The number of bytes received is in the first element of the response array. If it is non-zero, a message was received.

Parameters:

link	the sensor port number
response	the IR message that was received from the RCX

Returns:

true if no error occured, false if it did

Definition at line 142 of file HTRCX-driver.h.

bool HTRCXsendByte	(	tSensors	link,
		unsigned byte	data
	)

Send a single byte message to the RCX

Parameters:

link	the sensor port number
data	the data to be sent to the RCX

Returns:

true if no error occured, false if it did

Definition at line 204 of file HTRCX-driver.h.

bool HTRCXsendHeader

(

tSensors

link )

Sends the RCX IR message header with all the trimmings.

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

Parameters:

link	the sensor port number

Returns:

true if no error occured, false if it did

Definition at line 69 of file HTRCX-driver.h.

bool HTRCXsendWord	(	tSensors	link,
		short	data
	)

Send 2 bytes message to the RCX as a short.

NOTE: This only works with the ROBOTC firmware on the RCX

Parameters:

link	the sensor port number
data	the data to be sent to the RCX

Returns:

true if no error occured, false if it did

Examples:

HTRCX-test1.c.

Definition at line 226 of file HTRCX-driver.h.

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Variable Documentation

byte HTRCXCmdToggle = 0

Definition at line 46 of file HTRCX-driver.h.

tByteArray HTRCXI2CReply

Definition at line 43 of file HTRCX-driver.h.

tByteArray HTRCXI2CRequest

Definition at line 42 of file HTRCX-driver.h.

tByteArray HTRCXIRMsg

Definition at line 44 of file HTRCX-driver.h.