asuro.h File Reference

Functions
void	BackLED (_Bool left, _Bool right)
	control the BackLEDs
int	Battery (void)
	read the battery power state
void	EncoderInit (void)
	initialise and starts odometry mesurement
void	EncoderReset (void)
	set odometry tick count to zero
void	EncoderStart (void)
	start counting odometry ticks
void	EncoderStop (void)
	stop counting odometry sensor ticks
void	FrontLED (_Bool status)
	control the FrontLED
unsigned long	Gettime (void)
	return time since system start in ms
void	Init (void)
	initialise the hardware
void	LineData (unsigned int *data)
	read out the phototransistors on the bottom
void	MotorSpeed (unsigned char left_speed, unsigned char right_speed)
	set motor speed
void	MotorState (unsigned char left, unsigned char right)
	set motor state
void	mSleep (unsigned int ms)
	sleep function (ms)
void	OdometryData (unsigned int *data)
	reads out the odometry phototransistors
unsigned char	PollSwitch (void)
	read the switches
void	Rotate (int angle, unsigned char speed)
	turn the robot using the odometry sensors
void	SerRead (unsigned char *data, unsigned char length, unsigned int timeout)
	recieve characters over the serial interface
void	SerWrite (char *data, unsigned char length)
	send characters over the serial interface
void	Sleep (unsigned char time36kHz)
	sleep function (36Khz)
void	StartSwitch (void)
	send interrupt on switch press
void	StatusLED (unsigned char color)
	control the StatusLED
void	StopSwitch (void)
	stop sending switch interrupt
void	Travel (int distance, unsigned char speed)
	move the robot forward/ backward
Variables
unsigned char	encoder [2]
	odometry sensors tick count
volatile _Bool	sw_pressed
	any switch pressed?

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Function Documentation

void BackLED	(	_Bool	left,
		_Bool	right
	)

control the BackLEDs

values: ON, OFF

Parameters:

	left	leftLED status
	right	rightLED status

int Battery

(

void

)

read the battery power state

Returns:

ADC value. range: 0..1023

void EncoderInit

(

void

)

initialise and starts odometry mesurement

uses interrupt(ADC_vect)

See also:

encoder

void EncoderReset

(

void

)

set odometry tick count to zero

void EncoderStart

(

void

)

start counting odometry ticks

void EncoderStop

(

void

)

stop counting odometry sensor ticks

void FrontLED

(

_Bool

status

)

[inline]

control the FrontLED

Parameters:

status

values: ON, OFF

unsigned long Gettime

(

void

)

return time since system start in ms

Returns:

current system time in ms

void Init

(

void

)

initialise the hardware

initialise ports, ADC, PWM
this function must be called by every program at first

void LineData

(

unsigned int *

data

)

read out the phototransistors on the bottom

Parameters:

data

pointer to the data destination. access: data[LEFT], data[RIGHT]. range 0..1023

void MotorSpeed	(	unsigned char	left_speed,
		unsigned char	right_speed
	)			[inline]

set motor speed

value range: 0..255

Parameters:

	left_speed	left motor
	right_speed	right motor

void MotorState	(	unsigned char	left,
		unsigned char	right
	)			[inline]

set motor state

values: FWD, RWD, BREAK, FREE

Parameters:

	left	left motor
	right	right motor

void mSleep

(

unsigned int

ms

)

sleep function (ms)

Parameters:

ms

time in ms

void OdometryData

(

unsigned int *

data

)

reads out the odometry phototransistors

Parameters:

data

pointer to an array. access: data[LEFT], data[RIGHT]

unsigned char PollSwitch

(

void

)

read the switches

Returns:

char whose bits represent the switches
bit0 = K6, ... , bit5 = K1

void Rotate	(	int	angle,
		unsigned char	speed
	)

turn the robot using the odometry sensors

Parameters:

	angle	degrees to turn. positive = turn right, negative = turn left. range: -360..360
	speed	motor speed. range: 0..255

void SerRead	(	unsigned char *	data,
		unsigned char	length,
		unsigned int	timeout
	)

recieve characters over the serial interface

Parameters:

	data	pointer to the destination array
	length	character count
	timeout	0 = blocking mode

void SerWrite	(	char *	data,
		unsigned char	length
	)

send characters over the serial interface

Parameters:

	data	string-pointer
	length	character count

void Sleep

(

unsigned char

time36kHz

)

sleep function (36Khz)

Parameters:

time36kHz

time in 1/36k (sec)

void StartSwitch

(

void

)

send interrupt on switch press

binds switch press to external Interrupt 1
catch it with ISR(INT1_vect)
see avr-libc documentation for details

See also:

StopSwitch

void StatusLED

(

unsigned char

color

)

[inline]

control the StatusLED

Parameters:

color

values: OFF, GREEN, RED, YELLOW

void StopSwitch

(

void

)

stop sending switch interrupt

clears INT1_vect

See also:

StartSwitch

void Travel	(	int	distance,
		unsigned char	speed
	)

move the robot forward/ backward

Parameters:

	distance	travalling distance in cm. positive = forward, negative = backward
	speed	motor speed. range: 0..255

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Variable Documentation

unsigned char encoder[2]

odometry sensors tick count

access: encoder[LEFT], encoder[RIGHT]
range: 0..255

See also:

EncoderInit

volatile _Bool sw_pressed

any switch pressed?

is being set to TRUE by interrupt if a switch is pressed
remember to set it to false again, since it is not reset automatically

See also:

StartSwitch

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