RobotC Driver Reference Manual RC2

RobotC Drivers
Version
14-May-09 10:56:00
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Table of Contents
Data Structure Index ............................................................................................................................................... 1
File Index ............................................................................................................................................................... 1
Data Structure Documentation ................................................................................................................................ 2
blob .................................................................................................................................................................... 3
tByteArray ......................................................................................................................................................... 4
tIntArray ............................................................................................................................................................ 4
File Documentation ................................................................................................................................................ 6
common.h .......................................................................................................................................................... 7
HTAC-driver.h ................................................................................................................................................. 10
HTCS-driver.h.................................................................................................................................................. 13
HTDIR-driver.h ................................................................................................................................................ 17
HTEOPD-driver.h ............................................................................................................................................ 22
HTGYRO-driver.h............................................................................................................................................ 25
HTIRL-driver.h ................................................................................................................................................ 27
HTIRS-driver.h ................................................................................................................................................ 31
HTMC-driver.h ................................................................................................................................................ 34
HTPB-driver.h.................................................................................................................................................. 37
HTTMUX-driver.h ........................................................................................................................................... 40
MAX127-driver.h ............................................................................................................................................. 42
MCP23008-driver.h .......................................................................................................................................... 44
NXTCAM-driver.h ........................................................................................................................................... 48
Example Documentation....................................................................................................................................... 52
Index.................................................................................................................................................................... 70
iii
Data Structure Index
Data Structures
Here are the data structures with brief descriptions:
blob ................................................................................................................................................3
tByteArray .....................................................................................................................................4
tIntArray .......................................................................................................................................4
File Index
File List
Here is a list of all files with brief descriptions:
common.h (Commonly used functions used by drivers ) ................................................................7
HTAC-driver.h (HiTechnic Acceleration Sensor driver ) ............................................................ 10
HTCS-driver.h (HiTechnic Color Sensor driver ) ........................................................................ 13
HTDIR-driver.h (HiTechnic IR Seeker V2 driver ) ..................................................................... 17
HTEOPD-driver.h (HiTechnic EOPD Sensor driver ) ................................................................. 22
HTGYRO-driver.h (HiTechnic Gyroscopic Sensor driver ) ........................................................ 25
HTIRL-driver.h (HiTechnic IR Link Sensor driver ) .................................................................. 27
HTIRS-driver.h (HiTechnic IR Seeker driver ) ........................................................................... 31
HTMC-driver.h (HiTechnic Magnetic Compass Sensor Driver ) ................................................ 34
HTPB-driver.h (HiTechnic Prototype Board driver ) .................................................................. 37
HTTMUX-driver.h (HiTechnic Touch Multiplexer Sensor driver ) ............................................ 40
MAX127-driver.h (MAXIM MAX127 ADC driver ) ................................................................... 42
MCP23008-driver.h (MAXIM MCP23008 driver ) ...................................................................... 44
NXTCAM-driver.h (Mindsensors NXTCam driver ) ................................................................... 48
1
Data Structure Documentation
2
blob Struct Reference
#include <NXTCAM-driver.h>
Data Fields
 int x1
 int y1
 int x2
 int y2
 int colour
 int size
Detailed Description
Blob struct, contains all the data for a blob.
Field Documentation
int colour
Blob colour
int size
Blob size
int x1
left
int x2
right
int y1
top
int y2
bottom
The documentation for this struct was generated from the following file:
 NXTCAM-driver.h
3
tByteArray Struct Reference
#include <common.h>
Data Fields
 byte arr [MAX_ARR_SIZE]
 int stupid_work_around_for_array_bug
Array of bytes as a struct, this is a work around for RobotC's inability to pass an array to a function. The
int has to be there or it won't work.
Field Documentation
byte arr[MAX_ARR_SIZE]
int stupid_work_around_for_array_bug
 common.h
tIntArray Struct Reference

#include <common.h>
Data Fields
 int arr [MAX_ARR_SIZE]
 byte arrays_in_robotc_are_bugged_as_hell
Array of ints as a struct, this is a work around for RobotC's inability to pass an array to a function. The
byte has to be there or it won't work.
Examples:
HTAC-test1.c, HTCS-test1.c, HTDIR-test1.c, and HTIRS-test1.c.
Field Documentation
int arr[MAX_ARR_SIZE]
4
Examples:
HTAC-test1.c, HTCS-test1.c, HTDIR-test1.c, and HTIRS-test1.c.byte

arrays_in_robotc_are_bugged_as_hell
 common.h
5
File Documentation
6
common.h File Reference
Commonly used functions used by drivers.
#include "firmwareVersion.h"
Data Structures
 struct tByteArray
 struct tIntArray
Defines
 #define MAX_ARR_SIZE 17
Functions
 void clearI2CBus (tSensors link)
 bool waitForI2CBus (tSensors link)
 bool writeI2C (tSensors link, tByteArray &data, int replylen)
 bool readI2C (tSensors link, tByteArray &data, int replylen)
 int min (int x1, int x2)
 int max (int x1, int x2)
 int ubyteToInt (ubyte byteVal)
Commonly used functions used by drivers.
common.h provides a number of frequently used functions that are useful for writing drivers. License:
You may use this code as you wish, provided you give credit where its due. THIS CODE WILL ONLY
WORK WITH ROBOTC VERSION 1.46 AND HIGHER.
Changelog:
 0.1: Initial release
 0.2: Added version check to issue error when compiling with RobotC < 1.46
 0.2: Added __COMMON_H_DEBUG__ to enable/disable sounds when an I2C error occurs
 0.2: Removed bool waitForI2CBus(tSensors link, bool silent)
 Author:
Xander Soldaat (mightor_at_gmail.com)
 Date:
07 March 2009
 Version:
0.2

Define Documentation
#define MAX_ARR_SIZE 17
Maximum buffer size for byte_array, can be overridden in your own program. It's 17 bytes big
because the max I2C buffer size is 16, plus 1 byte to denote packet length.
7
Function Documentation
void clearI2CBus (tSensors link)

Clear out the stale bytes in the I2C bus before we send new data
Parameters:
link the port number
int max (int x1, int x2)

This function returns the bigger of the two numbers
Parameters:
x1 the first number
x2 the second number
Returns:
the bigger number
int min (int x1, int x2)

This function returns the smaller of the two numbers
Parameters:
x1 the first number
x2 the second number
Returns:
the smaller number
bool readI2C (tSensors link, tByteArray & data, int replylen)

Read from the I2C bus. This function will wait for the bus to be ready before reading from it.
Parameters:
data holds the data from the reply
replylen the number of bytes in the reply
Returns:
true if no error occured, false if it did
int ubyteToInt (ubyte byteVal)

This function returns an int equivalent of an unsigned byte
Parameters:
byteVal the byte to be converted
Returns:
the integer equivalent
Examples:
HTIRS-test1.c.bool waitForI2CBus (tSensors link)

Wait for the I2C bus to be ready for the next message
8
Parameters:
Returns:
bool writeI2C (tSensors link, tByteArray & data, int replylen)

Write to the I2C bus. This function will clear the bus and wait for it be ready before any bytes are
sent.
Parameters:
data the data to be sent
replylen the number of bytes (if any) expected in reply to this command
Returns:
9
HTAC-driver.h File Reference
HiTechnic Acceleration Sensor driver.
#include "common.h"
Defines
 #define HTAC_I2C_ADDR 0x02
 #define HTAC_X_UP 0x42
 #define HTAC_Y_UP 0x43
 #define HTAC_Z_UP 0x4C
 #define HTAC_X_LOW 0x4D
 #define HTAC_Y_LOW 0x4E
 #define HTAC_Z_LOW 0x4F
Functions
 bool HTACreadAllAxes (tSensors link, tIntArray &data)
 int HTACreadX (tSensors link)
 int HTACreadY (tSensors link)
 int HTACreadZ (tSensors link)
Variables
 tByteArray HTAC_I2CRequest
 tByteArray HTAC_I2CReply
HiTechnic Acceleration Sensor driver.
HTAC-driver.h provides an API for the HiTechnic Acceleration Sensor.
Changelog:
Credits:
 Big thanks to HiTechnic for providing me with the hardware necessary to write and test this.
License: You may use this code as you wish, provided you give credit where its due.
THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 1.46 AND HIGHER.
Author:
Date:
14 March 2009
Version:
0.1
10
#define HTAC_I2C_ADDR 0x02

IR Seeker I2C device address
#define HTAC_X_LOW 0x4D

X axis lower 2 bits
#define HTAC_X_UP 0x42

X axis upper 8 bits
#define HTAC_Y_LOW 0x4E

Y axis lower 2 bits
#define HTAC_Y_UP 0x43

Y axis upper 8 bits
#define HTAC_Z_LOW 0x4F

Z axis lower 2 bits
#define HTAC_Z_UP 0x4C

Z axis upper 8 bits
bool HTACreadAllAxes (tSensors link, tIntArray & data)

Read the value of all the axes registers and store in data array
Parameters:
link the HTAC port number
data tIntArray to store axes data
Returns:
Examples:
HTAC-test1.c.int HTACreadX (tSensors link)

Read the value of the X axis register and return it.
Parameters:
link the HTIRS port number
Returns:
value of X axis or -1 if an error occurred.
Examples:
11
HTAC-test1.c.int HTACreadY (tSensors link)
Read the value of the Y axis register and return it.
Parameters:
Returns:
value of Y axis or -1 if an error occurred.
Examples:
HTAC-test1.c.int HTACreadZ (tSensors link)

Read the value of the Z axis register and return it.
Parameters:
Returns:
value of X axis or -1 if an error occurred.
Examples:
HTAC-test1.c.
Variable Documentation
tByteArray HTAC_I2CReply
Array to hold I2C reply data
tByteArray HTAC_I2CRequest
Array to hold I2C command data
12
HTCS-driver.h File Reference
HiTechnic Color Sensor driver.
#include "common.h"
Defines
 #define HTCS_I2C_ADDR 0x02
 #define HTCS_CMD_REG 0x41
 #define HTCS_COLNUM_REG 0x42
 #define HTCS_RED_REG 0x43
 #define HTCS_GREEN_REG 0x44
 #define HTCS_BLUE_REG 0x45
 #define HTCS_RED_RAW_REG 0x46
 #define HTCS_GREEN_RAW_REG 0x48
 #define HTCS_BLUE_RAW_REG 0x4A
 #define HTSC_COL_INDEX_REG 0x4C
 #define HTSC_RED_NORM_REG 0x4D
 #define HTSC_GREEN_NORM_REG 0x4E
 #define HTSC_BLUE_NORM_REG 0x4F
 #define HTCS_CAL_WHITE 0x43
Functions
 int HTCSreadColor (tSensors link)
 bool HTCSreadRGB (tSensors link, tIntArray &rgbvals)
 bool HTCSreadNormRGB (tSensors link, tIntArray &normrgbvals)
 bool HTCSreadRawRGB (tSensors link, tIntArray &rawrgbvals)
 bool HTCScalWhite (tSensors link)
 int HTCSreadColorIndex (tSensors link)
Variables
 tByteArray HTCS_I2CRequest
 tByteArray HTCS_I2CReply
HiTechnic Color Sensor driver.
HTCS-driver.h provides an API for the HiTechnic Color Sensor driver.
Changelog:
Credits:
Author:
Date:
08 March 2009
13
Version:
0.1
#define HTCS_BLUE_RAW_REG 0x4A

Raw blue reading (2 bytes)
#define HTCS_BLUE_REG 0x45

Blue reading
#define HTCS_CAL_WHITE 0x43

Command to calibrate white
#define HTCS_CMD_REG 0x41

Command register
#define HTCS_COLNUM_REG 0x42

Color number
#define HTCS_GREEN_RAW_REG 0x48

Raw green reading (2 bytes)
#define HTCS_GREEN_REG 0x44

Green reading
#define HTCS_I2C_ADDR 0x02

HTCS I2C device address
#define HTCS_RED_RAW_REG 0x46

Raw red reading (2 bytes)
#define HTCS_RED_REG 0x43

Red reading
#define HTSC_BLUE_NORM_REG 0x4F

Normalised blue reading
#define HTSC_COL_INDEX_REG 0x4C

Color index number
#define HTSC_GREEN_NORM_REG 0x4E

Normalised green reading
14
#define HTSC_RED_NORM_REG 0x4D
Normalised red reading
bool HTCScalWhite (tSensors link)

Calibrate the sensor for white.
Parameters:
link the HTCS port number
Returns:
Examples:
HTCS-test2.c.int HTCSreadColor (tSensors link)

Return the color number currently detected.
Parameters:
Returns:
color index number or -1 if an error occurred.
Examples:
HTCS-test1.c.int HTCSreadColorIndex (tSensors link)

Return the color index number currently detected. This is a single 6 bit number color index. Bits 5
and 4 encode the red signal level, bits 3 and 2 encode the green signal level and bits 1 and 0 encode
the blue signal levels.
Parameters:
Returns:
color index number or -1 if an error occurred.
Examples:
HTCS-test1.c.bool HTCSreadNormRGB (tSensors link, tIntArray & normrgbvals)

Get the normalised RGB readings. The normalization sets the highest value of the three Red, Green
and Blue reading to 255 and adjusts the other two proportionately.
Parameters:
normrgbvals int_array to hold the normalised RGB values
Returns:
Examples:
HTCS-test1.c.bool HTCSreadRawRGB (tSensors link, tIntArray & rawrgbvals)

Get the raw RGB readings, these are 10bit values.
15
Parameters:
rawrgbvals int_array to hold the raw RGB values
Returns:
Examples:
HTCS-test1.c.bool HTCSreadRGB (tSensors link, tIntArray & rgbvals)

Get the detection levels for the three color components.
Parameters:
rgbvals int_array to hold the RGB values
Returns:
Examples:
HTCS-test1.c.
tByteArray HTCS_I2CReply
tByteArray HTCS_I2CRequest
16
HTDIR-driver.h File Reference
HiTechnic IR Seeker V2 driver.
#include "common.h"
Defines
 #define HTDIR_I2C_ADDR 0x10
 #define HTDIR_DSP_MODE 0x41
 #define HTDIR_DC_DIR 0x42
 #define HTDIR_DC_SSTR1 0x43
 #define HTDIR_DC_SAVG 0x48
 #define HTDIR_AC_DIR 0x49
 #define HTDIR_AC_SSTR1 0x4A
 #define HTDIR_AC_SSTR2 0x4B
 #define HTDIR_AC_SSTR3 0x4C
 #define HTDIR_AC_SSTR4 0x4D
 #define HTDIR_AC_SSTR5 0x4E
Enumerations
 enum tHTDIRDSPMode { DSP_1200 = 0, DSP_600 = 1 }
Functions
 int HTDIRreadDCDir (tSensors link)
 int HTDIRreadDCStrength (tSensors link, byte sensorNr)
 int HTDIRreadAllDCStrength (tSensors link, tIntArray &oBuffer)
 int HTDIRreadDCAverage (tSensors link)
 bool HTDIRsetDSPMode (tSensors link, tHTDIRDSPMode mode)
 int HTDIRreadACDir (tSensors link)
 int HTDIRreadACStrength (tSensors link, byte sensorNr)
 int HTDIRreadAllACStrength (tSensors link, tIntArray &oBuffer)
Variables
 tByteArray HTDIR_I2CRequest
 tByteArray HTDIR_I2CReply
HiTechnic IR Seeker V2 driver.
HTDIR-driver.h provides an API for the HiTechnic IR Seeker V2.
Changelog:
Credits:
17
Author:
Date:
15 March 2009
Version:
0.1
#define HTDIR_AC_DIR 0x49

DC Direction data
#define HTDIR_AC_SSTR1 0x4A

DC Sensor 0 signal strength above average
#define HTDIR_AC_SSTR2 0x4B

#define HTDIR_AC_SSTR3 0x4C

#define HTDIR_AC_SSTR4 0x4D

#define HTDIR_AC_SSTR5 0x4E

#define HTDIR_DC_DIR 0x42

DC Direction data
#define HTDIR_DC_SAVG 0x48

DC sensor signal strength average
#define HTDIR_DC_SSTR1 0x43



18

#define HTDIR_DSP_MODE 0x41

AC DSP mode - 0 = 1200Hz, 1 = 600Hz
#define HTDIR_I2C_ADDR 0x10

Enumeration Type Documentation
enum tHTDIRDSPMode
Enumerator:
DSP_1200
DSP_600
int HTDIRreadACDir (tSensors link)

Read the value of the AC Direction data register and return it.
Parameters:
link the HTDIR port number
Returns:
value of 0-9, the direction index of the detected IR signal or -1 if an error occurred.
Examples:
HTDIR-test1.c.int HTDIRreadACStrength (tSensors link, byte sensorNr)

Read the value of the specified internal AC sensor above average, numbered 0-5 and return it.
Parameters:
sensorNr the internal sensor to read
Returns:
the signal strength value of the specified sensor or -1 if an error occurred.
int HTDIRreadAllACStrength (tSensors link, tIntArray & oBuffer)

Read the value of the all of the internal AC sensors and copy into specified buffer.
Parameters:
oBuffer the buffer to write the data to
19
Returns:
0 when no errors occured, -1 when an error occurred.
Examples:
HTDIR-test1.c.int HTDIRreadAllDCStrength (tSensors link, tIntArray & oBuffer)

Read the value of the all of the internal DC sensors above avergae and copy into specified buffer.
Parameters:
Returns:
Examples:
HTDIR-test1.c.int HTDIRreadDCAverage (tSensors link)

Read the value of the average data register and return it.
Parameters:
Returns:
int HTDIRreadDCDir (tSensors link)

Read the value of the DC Direction data register and return it.
Parameters:
Returns:
Examples:
HTDIR-test1.c.int HTDIRreadDCStrength (tSensors link, byte sensorNr)

Read the value of the specified internal DC sensor above average, numbered 0-5 and return it.
Parameters:
Returns:
bool HTDIRsetDSPMode (tSensors link, tHTDIRDSPMode mode)

Set the DSP mode of the AC carrier wave detector.
Parameters:
mode the frequency that should be detected
Returns:
Examples:
HTDIR-test1.c.
20
tByteArray HTDIR_I2CReply
tByteArray HTDIR_I2CRequest
21
HTEOPD-driver.h File Reference
HiTechnic EOPD Sensor driver.
Enumerations
 enum eHTEOPDsensorRange { HTEOPD_ILLEGAL_RANGE = -1, HTEOPD_SHORT_RANGE = 0,
HTEOPD_LONG_RANGE = 1 }
Functions
 int HTEOPDgetRaw (tSensors link)
 int HTEOPDgetProcessed (tSensors link)
 void HTEOPDsetRange (tSensors link, eHTEOPDsensorRange range)
 void HTEOPDsetShortRange (tSensors link)
 void HTEOPDsetLongRange (tSensors link)
 eHTEOPDsensorRange HTEOPDgetRange (tSensors link)
HiTechnic EOPD Sensor driver.
HTEOPD-driver.h provides an API for the HiTechnic EOPD sensor.
Changelog:
Credits:
Author:
Date:
14 March 2009
Version:
0.1
enum eHTEOPDsensorRange
This enum is used to configure or determine the range of the sensor
Enumerator:
HTEOPD_ILLEGAL_RANGE Range is not legal
HTEOPD_SHORT_RANGE Short range
HTEOPD_LONG_RANGE Long range
22
int HTEOPDgetProcessed (tSensors link)

Get the processed value from the sensor. This is obtained by using sqrt(raw value * 10)
Parameters:
link the HTEOPD port number
Returns:
processed value of the sensor or -1 if no valid range has been specified.
Examples:
HTEOPD-test1.c.eHTEOPDsensorRange HTEOPDgetRange (tSensors link)

Get the range of the sensor
Parameters:
Returns:
the configured range
Examples:
HTEOPD-test1.c.int HTEOPDgetRaw (tSensors link)

Get the raw value from the sensor
Parameters:
Returns:
raw value of the sensor or -1 if no valid range has been specified.
Examples:
HTEOPD-test1.c.void HTEOPDsetLongRange (tSensors link)

Set the range of the sensor to long range, this is done by configuring the sensor as sensorLightActive
and setting it to modeRaw
Parameters:
Examples:
HTEOPD-test1.c.void HTEOPDsetRange (tSensors link, eHTEOPDsensorRange range)

Set the range of the sensor as specified.
Parameters:
range the specified range
void HTEOPDsetShortRange (tSensors link)

Set the range of the sensor to short range, this is done by configuring the sensor as sensorRawValue
Parameters:
Examples:
23
HTEOPD-test1.c.
24
HTGYRO-driver.h File Reference
HiTechnic Gyroscopic Sensor driver.
Functions
 int HTGYROreadRot (tSensors link)
 int HTGYROcalibrate (tSensors link)
 int HTGYROgetCalibration (tSensors link)
 void HTGYROsetCalibration (tSensors link, int offset)
Variables
 int HTGYRO_offsets [] = {620, 620, 620, 620}
HiTechnic Gyroscopic Sensor driver.
HTGYRO-driver.h provides an API for the HiTechnic Gyroscopic Sensor.
Changelog:
Credits:
Author:
Date:
14 March 2009
Version:
0.1
int HTGYROcalibrate (tSensors link)

Calibrate the gyro by calculating the average offset of 5 raw readings.
Parameters:
Returns:
the new offset value for the gyro
Examples:
HTGYRO-test1.c.int HTGYROgetCalibration (tSensors link)

Retrieve the current offset for the gyro
25
Parameters:
Returns:
the offset value for the gyro
Examples:
HTGYRO-test1.c.int HTGYROreadRot (tSensors link)

Read the value of the gyro
Parameters:
link the HTGYRO port number
Returns:
the value of the gyro
Examples:
HTGYRO-test1.c.void HTGYROsetCalibration (tSensors link, int offset)

Override the current offset for the gyro manually
Parameters:
offset the new offset to be used
int HTGYRO_offsets[] = {620, 620, 620, 620}

Array for offset values. Default is 620
26
HTIRL-driver.h File Reference
HiTechnic IR Link Sensor driver.
#include "common.h"
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
Enumerations
 enum eCPMMotorCommand { CPM_MOTOR_FLOAT = 0, CPM_MOTOR_FWD_PWM_1 = 1,
CPM_MOTOR_FWD_PWM_2 = 2, CPM_MOTOR_FWD_PWM_3 = 3, CPM_MOTOR_FWD_PWM_4 =
4, CPM_MOTOR_FWD_PWM_5 = 5, CPM_MOTOR_FWD_PWM_6 = 6, CPM_MOTOR_FWD_PWM_7
= 7, CPM_MOTOR_BRAKE = 8, CPM_MOTOR_BAK_PWM_7 = 9, CPM_MOTOR_BAK_PWM_6 =
10, CPM_MOTOR_BAK_PWM_5 = 11, CPM_MOTOR_BAK_PWM_4 = 12,
CPM_MOTOR_BAK_PWM_3 = 13, CPM_MOTOR_BAK_PWM_2 = 14, CPM_MOTOR_BAK_PWM_1
= 15 }
 enum eCDMMotorCommand { CDM_MOTOR_FLOAT = 0, CDM_MOTOR_FWD = 1,
CDM_MOTOR_BAK = 2, CDM_MOTOR_BRAKE = 3 }
Functions
 void addI2CHead (tByteArray &data)
 void addI2CTail (tByteArray &data)
 void PFcomboDirectMode (tSensors link, int channel, eCDMMotorCommand _motorB, eCDMMotorCommand
_motorA)
 void PFcomboPwmMode (tSensors link, int channel, eCPMMotorCommand _motorB, eCPMMotorCommand
_motorA)
 void encodeBuffer (tByteArray &iBuffer, tByteArray &oBuffer)
 void transmitIR (tSensors link, tByteArray &oBuffer, int channel, int resend)
HiTechnic IR Link Sensor driver.
HTIRL-driver.h provides an API for the HiTechnic IR Link Sensor. Currently only the Power Functions
API has been implemented.
Changelog:
 1.1: Minor changes
 1.2: Rewrite to make use of the new common.h API
Credits:
27
Author:
Date:
14 March 2009
Version:
1.2
#define BUF_DATASIZE 11
max size of encoded buffer
#define BUF_HEADSIZE 3
I2C buff size, address and register
#define BUF_TAILSIZE 3
IR data length, IR Link mode and start transmission
#define START_DATA 3
index of start of data payload
#define START_HEAD 0
index of start of header
#define START_TAIL 15
index of start of tail Combo PWM Mode commands
enum eCDMMotorCommand
Enumerator:
CDM_MOTOR_FLOAT Float the motor
CDM_MOTOR_FWD Forward
CDM_MOTOR_BAK Reverse
CDM_MOTOR_BRAKE Brake the motor
enum eCPMMotorCommand
Enumerator:
CPM_MOTOR_FLOAT Float the motor
CPM_MOTOR_FWD_PWM_1 Forward speed 1
28
CPM_MOTOR_BRAKE Brake the motor
CPM_MOTOR_BAK_PWM_7 Reverse speed 7
void addI2CHead (tByteArray & data) [inline]

Add the I2C header to the array.
Note: this is an internal function and should not be called directly.
Parameters:
data the data the header should be added to
void addI2CTail (tByteArray & data) [inline]

Add the tail end of the packet header to the array.
Parameters:
data the data the tail should be appended to
void encodeBuffer (tByteArray & iBuffer, tByteArray & oBuffer)

Encode the input buffer into a special format for the IRLink.
Parameters:
iBuffer the data that is be encoded
oBuffer output buffer for encoded data
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.
29
Parameters:
link the sensor port number
channel the channel of the receiver we wish to communicate with.
_motorB the command to be sent to Motor B
_motorA the command to be sent to Motor A
Examples:
HTIRL-test1.c.void PFcomboPwmMode (tSensors link, int channel, eCPMMotorCommand

_motorB, eCPMMotorCommand _motorA)
Control two motors using the ComboPWMMode. This mode allows for fine grained speed control.
Parameters:
channel the channel of the receiver we wish to communicate with.
_motorB the command to be sent to Motor B
_motorA the command to be sent to Motor A
Examples:
HTIRL-test1.c.void transmitIR (tSensors link, tByteArray & oBuffer, int channel, int resend)
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:
oBuffer the data that is be transmitted
channel the channel number of the receiver
resend the number of times the command should be resent
30
HTIRS-driver.h File Reference
HiTechnic IR Seeker driver.
#include "common.h"
Defines
 #define HTIRS_I2C_ADDR 0x02
 #define HTIRS_DIR 0x42
 #define HTIRS_SSTR1 0x43
 #define HTIRS_SSTR2 0x4C
 #define HTIRS_SSTR3 0x4D
 #define HTIRS_SSTR4 0x4E
 #define HTIRS_SSTR5 0x4F
Functions
 int HTIRSreadDir (tSensors link)
 int HTIRSreadStrength (tSensors link, byte sensorNr)
 int HTIRSreadAllStrength (tSensors link, tIntArray &oBuffer)
Variables
 tByteArray HTIRS_I2CRequest
 tByteArray HTIRS_I2CReply
HiTechnic IR Seeker driver.
HTIRS-driver.h provides an API for the HiTechnic IR Seeker.
Changelog:
 0.2: Changed comments on HTIRReadDir()
 0.3: Reduced MAX_BUFSIZE to 5 to reduce overhead
 0.4: Major rewrite of code, uses common.h for most functions
Credits:
 JamesD for testing and finding bugs.
Author:
Date:
07 March 2009
Version:
0.4
31
#define HTIRS_DIR 0x42

Address of Direction data
#define HTIRS_I2C_ADDR 0x02

#define HTIRS_SSTR1 0x43

Address of Sensor 0 signal strength
#define HTIRS_SSTR2 0x4C

#define HTIRS_SSTR3 0x4D

#define HTIRS_SSTR4 0x4E

#define HTIRS_SSTR5 0x4F

int HTIRSreadAllStrength (tSensors link, tIntArray & oBuffer)

Read the value of the all of the internal sensors and copy into specified buffer.
Parameters:
Returns:
Examples:
HTIRS-test1.c.int HTIRSreadDir (tSensors link)

Read the value of the Direction data register and return it.
Parameters:
Returns:
Examples:
32
HTIRS-test1.c.int HTIRSreadStrength (tSensors link, byte sensorNr)
Read the value of the specified internal sensor, numbered 0-5 and return it.
Parameters:
Returns:
tByteArray HTIRS_I2CReply
tByteArray HTIRS_I2CRequest
33
HTMC-driver.h File Reference
HiTechnic Magnetic Compass Sensor Driver.
#include "common.h"
Defines
 #define HTMC_I2C_ADDR 0x02
 #define HTMC_MODE 0x41
 #define HTMC_HEAD_U 0x42
 #define HTMC_HEAD_L 0x43
 #define HTMC_MEASURE_CMD 0x00
 #define HTMC_CALIBRATE_CMD 0x043
Functions
 bool HTMCstartCal (tSensors link)
 bool HTMCstopCal (tSensors link)
 int HTMCreadHeading (tSensors link)
 int HTMCreadRelativeHeading (tSensors link)
 int HTMCsetTarget (tSensors link)
 int HTMCsetTarget (tSensors link, int offset)
Variables
 tByteArray HTMC_I2CRequest
 tByteArray HTMC_I2CReply
 int target [4] = {0, 0, 0, 0}
HiTechnic Magnetic Compass Sensor Driver.
HTMC-driver.h provides an API for the HiTechnic Magnetic Compass Sensor.
Changelog:
Author:
Date:
27 May 2009
Version:
0.1
#define HTMC_CALIBRATE_CMD 0x043

HTMC calibrate mode command
34
#define HTMC_HEAD_L 0x43
HTMC Heading Lower bit
#define HTMC_HEAD_U 0x42

HTMC Heading Upper bits
#define HTMC_I2C_ADDR 0x02

HTMC I2C device address
#define HTMC_MEASURE_CMD 0x00

HTMC measurement mode command
#define HTMC_MODE 0x41

HTMC Mode control
int HTMCreadHeading (tSensors link)

Return the current absolute heading
Parameters:
link the HTMC port number
Returns:
heading in degrees (0 - 359) or -1 if an error occurred.
Examples:
HTMC-test1.c.int HTMCreadRelativeHeading (tSensors link)

Return the current relative heading, value between -179 and 180
Parameters:
Returns:
relative heading in degrees or -255 if an error occurred.
Examples:
HTMC-test1.c.int HTMCsetTarget (tSensors link, int offset)

Set the value for the offset to be used as the new zero-point for the relative heading returned by
HTMCreadRelativeHeading()
Parameters:
offset to be used to calculate relative heading (0-360 degrees)
int HTMCsetTarget (tSensors link)

Set the current heading as the value for the offset to be used as the new zero-point for the relative
heading returned by HTMCreadRelativeHeading()
35
Parameters:
Examples:
HTMC-test1.c.bool HTMCstartCal (tSensors link)

Start the calibration. The sensor should be rotated a little more than 360 along the horizontal plane in
no less than 20 seconds. After the sensor has been rotated, call HTMCstopCal() to set the sensor back
in measurement mode and save the calibration data. This calibration data is stored in the sensor until
the next calibration.
Parameters:
Returns:
Examples:
HTMC-test2.c.bool HTMCstopCal (tSensors link)

Stop the calibration. This should be called no less than 20 seconds after HTMCstartCal() and only if
the sensor has been rotated more than 360 degrees
Parameters:
Returns:
tByteArray HTMC_I2CReply
tByteArray HTMC_I2CRequest
int target[4] = {0, 0, 0, 0}

Offsets for the compass sensor relative readings
36
HTPB-driver.h File Reference
HiTechnic Prototype Board driver.
#include "common.h"
Defines
 #define HTPB_I2C_ADDR 0x02
 #define HTPB_A0_U 0x42
 #define HTPB_A0_L 0x43
 #define HTPB_DIGIN 0x4C
 #define HTPB_DIGOUT 0x4D
 #define HTPB_DIGCTRL 0x4E
 #define HTPB_SRATE 0x4F
Functions
 byte HTPBReadIO (tSensors link, byte mask)
 bool HTPBWriteIO (tSensors link, byte mask)
 bool HTPBSetupIO (tSensors link, byte mask)
 int HTPBReadADC (tSensors link, byte channel, byte width)
 bool HTPBReadAllADC (tSensors link, tIntArray &channel_values, byte width)
 bool HTPBSetSamplingTime (tSensors link, byte interval)
 void _workAround (tSensors link)
Variables
 tByteArray HTPB_I2CRequest
 tByteArray HTPB_I2CReply
 bool done_workaround [4] = { false, false, false, false}
HiTechnic Prototype Board driver.
HTPB-driver.h provides an API for the HiTechnic Proto Board.
Changelog:
 0.2: Minor bug fixes
 0.3: Major rewrite to make use of common.h for common API
Author:
Date:
07 March 2009
Version:
0.3
37
#define HTPB_A0_L 0x43

Address of lower bits of first ADC, bits 1-0
#define HTPB_A0_U 0x42

Address of upper bits of first ADC, bits 9-2
#define HTPB_DIGCTRL 0x4E

Controls direction of digital ports
#define HTPB_DIGIN 0x4C

Address of digital inputs
#define HTPB_DIGOUT 0x4D

Address of digital outputs
#define HTPB_I2C_ADDR 0x02

Protoboard I2C device address
#define HTPB_SRATE 0x4F

Controls sample rate, default set to 10ms
void _workAround (tSensors link)

This function is necessary to work around an incompatibility between RobotC and HTPB, it makes
two dummy calls to the board. Note: this is an internal function and should not be called directly.
Parameters:
link the HTPB port number
int HTPBReadADC (tSensors link, byte channel, byte width)

Read the value of the specified analogue channel.
Parameters:
channel the specified ADC channel
width the bit width of the result, can be either 8 or 10
Returns:
the value of the ADC channel, or -1 if an error occurred
bool HTPBReadAllADC (tSensors link, tIntArray & channel_values, byte width)

This function read the value of all of the analogue channels.
Parameters:
38
channel_values buffer for returned data from ADCs
width the bit width of the result, can be either 8 or 10
Returns:
byte HTPBReadIO (tSensors link, byte mask)

Read the values of the digital inputs as specified by the mask.
Parameters:
mask the specified digital ports
bool HTPBSetSamplingTime (tSensors link, byte interval)

This function configured the time between samples. This value is not stored permanently.
Parameters:
interval a value between 4 and 100ms, default is 10ms
Returns:
bool HTPBSetupIO (tSensors link, byte mask)

Configure the ports for input or output according to the mask.
Parameters:
mask the specified digital ports, 0 = input, 1 = output
Returns:
bool HTPBWriteIO (tSensors link, byte mask)

Write the values the digital outpus as specified by the mask.
Parameters:
mask the specified digital ports
Returns:
bool done_workaround[4] = { false, false, false, false}
tByteArray HTPB_I2CReply
Array to hold I2C reply data Keeps track for which link the workaround has been done
tByteArray HTPB_I2CRequest
39
HTTMUX-driver.h File Reference
HiTechnic Touch Multiplexer Sensor driver.
Functions
 int HTTMUXgetActive (tSensors link)
 bool HTTMUXisActive (tSensors link, int touch)
HiTechnic Touch Multiplexer Sensor driver.
HTTMUX-driver.h provides an API for the HiTechnic Touch Multiplexer Sensor.
Changelog:
Credits:
Author:
Date:
15 March 2009
Version:
0.1
int HTTMUXgetActive (tSensors link)

Read the value of all of the currently connected touch sensors. The status is logically OR'd together.
Touch 1 = 1, Touch 2 = 2, Touch 3 = 4, Touch 4 = 8. If Touch 1 and 3 are active, the return value will
be 1 + 4 == 5.
Parameters:
link the HTTMUX port number
Returns:
the value of the switches status
Examples:
HTTMUX-test1.c.bool HTTMUXisActive (tSensors link, int touch)

Read the value of specific touch sensor.
Parameters:
link the HTTMUX port number
touch the touch sensor to be checked, numbered 1 to 4.
40
Returns:
the value of the switches status
Examples:
HTTMUX-test1.c.
41
MAX127-driver.h File Reference
MAXIM MAX127 ADC driver.
#include "common.h"
Defines
 #define MAX127_I2C_ADDR 0x50
Functions
 int MAX127readChan (tSensors link, byte i2caddress, byte adcchannel)
Variables
 tByteArray MAX127_I2CRequest
 tByteArray MAX127_I2CReply
MAXIM MAX127 ADC driver.
HTIRS-driver.h provides an API for the MAXIM MAX127 ADC.
Changelog:
 0.5: Major rewrite of code, uses common.h for most functions
Author:
Date:
08 March 2009
Version:
0.5
#define MAX127_I2C_ADDR 0x50

MAX127 default I2C device address
Examples:
MAX127-test1.c.
int MAX127readChan (tSensors link, byte i2caddress, byte adcchannel)

Returns the current analogue value as measured on the specified channel.
42
Parameters:
link the MAX127 port number
i2caddress the I2C address the MAX127 is configured for. Use MAX127_I2C_ADDR for the default.
adcchannel the ADC channel number (0-7)
Returns:
value of the ADC channel or -1 if an error occurred.
Examples:
MAX127-test1.c.
tByteArray MAX127_I2CReply
tByteArray MAX127_I2CRequest
43
MCP23008-driver.h File Reference
MAXIM MCP23008 driver.
#include "common.h"
Defines
 #define MCP_REG_IODIR 0x00
 #define MCP_REG_IPOL 0x01
 #define MCP_REG_GPINTEN 0x02
 #define MCP_REG_DEFVAL 0x03
 #define MCP_REG_INTCON 0x04
 #define MCP_REG_IOCON 0x05
 #define MCP_REG_GPPU 0x06
 #define MCP_REG_INTF 0x07
 #define MCP_REG_INTCAP 0x08
 #define MCP_REG_GPIO 0x09
 #define MCP_REG_OLAT 0x0A
 #define MCP_BIT_INTPOL 1
 #define MCP_BIT_ODR 2
 #define MCP_BIT_DISSLW 4
 #define MCP_BIT_SREAD 5
 #define MCP_I2C_ADDR 0x40
Functions
 bool MCP23008SetupIO (tSensors link, byte addr, byte mask, byte pullup)
 bool MCP23008SetupIO (tSensors link, byte addr, byte mask)
 byte MCP23008ReadIO (tSensors link, byte addr, byte mask)
 byte MCP23008ReadIO (tSensors link, byte addr)
 bool MCP23008WriteIO (tSensors link, byte addr, byte mask)
 bool MCP23008WriteReg (tSensors link, byte addr, byte reg, byte data)
 byte MCP23008ReadReg (tSensors link, byte addr, byte reg)
Variables
 tByteArray MCP23008_I2CRequest
 tByteArray MCP23008_I2CReply
MAXIM MCP23008 driver.
MCP23008-driver.h provides an API for the MCP23008 8 port IO expander.
Changelog:
 0.3 Rewrite to make use of standard common.h framework.
License: You may use this code as you wish, provided you give credit where it's due.
Author:
Xander Soldaat
44
Date:
14 March 2009
Version:
0.3
#define MCP_BIT_DISSLW 4
Slew Rate control bit for SDA output
#define MCP_BIT_INTPOL 1
This bit sets the polarity of the INT output pin
#define MCP_BIT_ODR 2
This bit configures the INT pin as an open-drain output
#define MCP_BIT_SREAD 5
Sequential Operation mode bit
#define MCP_I2C_ADDR 0x40

Default base address (A0-A2 tied to gnd)
#define MCP_REG_DEFVAL 0x03

DEFAULT COMPARE REGISTER FOR INTERRUPT-ONCHANGE
#define MCP_REG_GPINTEN 0x02

INTERRUPT-ON-CHANGE CONTROL REGISTER
#define MCP_REG_GPIO 0x09

PORT REGISTER
#define MCP_REG_GPPU 0x06

PULL-UP RESISTOR CONFIGURATION REGISTER
#define MCP_REG_INTCAP 0x08

INTERRUPT CAPTURE REGISTER
#define MCP_REG_INTCON 0x04

INTERRUPT CONTROL REGISTER
#define MCP_REG_INTF 0x07

INTERRUPT FLAG (INTF)REGISTER
45
#define MCP_REG_IOCON 0x05
CONFIGURATION REGISTER
#define MCP_REG_IODIR 0x00

I/O DIRECTION REGISTER
#define MCP_REG_IPOL 0x01

INPUT POLARITY REGISTER
#define MCP_REG_OLAT 0x0A

OUTPUT LATCH REGISTER
byte MCP23008ReadIO (tSensors link, byte addr)

Read the states of all of the pins
Parameters:
addr the address of the MCP23008
Returns:
the value of the pins
byte MCP23008ReadIO (tSensors link, byte addr, byte mask)

Read the states of the pins as specified by the mask
Parameters:
mask the pins to get the status for
Returns:
byte MCP23008ReadReg (tSensors link, byte addr, byte reg)

Read from the device at the specified register.
Parameters:
reg the register to write to
Returns:
bool MCP23008SetupIO (tSensors link, byte addr, byte mask)

Setup the pins as either inputs or outputs as specified by the mask. 0 is input, 1 is output
46
Parameters:
mask the pins to change the configuration for
Returns:
bool MCP23008SetupIO (tSensors link, byte addr, byte mask, byte pullup)
Setup the pins as either inputs or outputs as specified by the mask. 0 is input, 1 is output
Parameters:
mask the pins to change the configuration for
pullup the pins to change the internal pullup resistor for
Returns:
bool MCP23008WriteIO (tSensors link, byte addr, byte mask)

Write to the pins specified specified by the mask.
Parameters:
mask the state of the pins that is to be written
Returns:
bool MCP23008WriteReg (tSensors link, byte addr, byte reg, byte data)
Write data to the device at the specified register.
Parameters:
reg the register to write to
data the data to be written (single byte)
Returns:
tByteArray MCP23008_I2CReply
tByteArray MCP23008_I2CRequest
47
NXTCAM-driver.h File Reference
Mindsensors NXTCam driver.
#include "common.h"
Data Structures
 struct blob
Defines
 #define MAX_BLOBS 8
 #define NXTCAM_I2C_ADDR 0x02
 #define NXTCAM_CMD_REG 0x41
 #define NXTCAM_COUNT_REG 0x42
 #define NXTCAM_DATA_REG 0x43
 #define SIDE_CENTER(X1, X2) ((X1 + X2) / 2)
Typedefs
 typedef blob blob_array [MAX_BLOBS]
Functions
 bool NXTCAMinit (tSensors link)
 int NXTCAMgetBlobs (tSensors link, blob_array &blobs, bool mergeBlobs)
 int NXTCAMgetBlobs (tSensors link, blob_array &blobs)
 bool _camera_cmd (tSensors link, byte cmd)
 int _mergeBlobs (int blob1, int blob2, int nblobs, blob_array &blobs)
 int _merge (int nblobs, blob_array &blobs)
 void _sortBlobs (int nblobs, blob_array &blobs)
 void NXTCAMgetAverageCenter (blob_array &blobs, int nblobs, int colourindex, int &x, int &y)
Variables
 tByteArray NXTCAM_I2CRequest
 tByteArray NXTCAM_I2CReply
 bool still_merging
Mindsensors NXTCam driver.
NXTCAM-driver.h provides an API for the Mindsensors NXTCam. This version is an extensive rewrite
of Gordon Wyeth's driver. The blob information is no longer kept in seperate array, but in an array of
structs.
Changelog:
 1.0: Partial rewrite of original driver, using structs instead of arrays to hold blob info
 1.1: Further rewrite to use common.h functions to further align with standard driver framework
License: You may use this code as you wish, provided you give credit where it's due.
Author:
Xander Soldaat
48
Gordon Wyeth
Date:
08 March 2009
Version:
1.1
#define MAX_BLOBS 8
Maximum number of blobs returned by the NXTCam
#define NXTCAM_CMD_REG 0x41

Register used for issuing commands
#define NXTCAM_COUNT_REG 0x42

Register used to hold number of blobs detected
#define NXTCAM_DATA_REG 0x43

Register containing data pertaining to blobs
#define NXTCAM_I2C_ADDR 0x02

I2C address used by the NXTCam
#define SIDE_CENTER(X1, X2) ((X1 + X2) / 2)

Returns the center of a side
Typedef Documentation
typedef blob blob_array[MAX_BLOBS]

Array of blob as a typedef, this is a work around for RobotC's inability to pass an array to a function
Examples:
NXTCAM-test1.c.
bool _camera_cmd (tSensors link, byte cmd)

This function sends a command to the camera over I2C.
Parameters:
cmd the command to be sent
49
Returns:
int _merge (int nblobs, blob_array & blobs)

Go through the blobs and calls _mergeBlobs.
Parameters:
nblobs the number of blobs
blobs the array of blobs
Returns:
the number of blobs detected
int _mergeBlobs (int blob1, int blob2, int nblobs, blob_array & blobs)
Check if two blobs can be merged into one. blob1 will be replaced with the new merged blob and
blob2 will be destroyed.
Parameters:
blob1 the index number of the first blob
blob2 the index number of the second blob
Returns:
the number of blobs detected
void _sortBlobs (int nblobs, blob_array & blobs)

This function sorts the blobs in the array using insertion sort.
Parameters:
void NXTCAMgetAverageCenter (blob_array & blobs, int nblobs, int colourindex, int & x,
int & y)
Calculate the average center of all the blobs of a specific colour.
Note: this is an experimental function and may not function properly yet.
Parameters:
colourindex the colour of the blobs of which the average center is to be calculated
x x-coordinate of the center
y y-coordinate of the center
int NXTCAMgetBlobs (tSensors link, blob_array & blobs)

This function fetches the blob data from the camera.
Parameters:
50
Returns:
the number of blobs detected, -1 if an error occurred
int NXTCAMgetBlobs (tSensors link, blob_array & blobs, bool mergeBlobs)

This function fetches the blob data from the camera and merges the colliding ones.
Parameters:
mergeBlobs whether or not to merge the colliding blobs
Returns:
the number of blobs detected, -1 if an error occurred
Examples:
NXTCAM-test1.c.bool NXTCAMinit (tSensors link)

This function initialises camera ready to find blobs and sort them according to size.
Parameters:
Returns:
Examples:
NXTCAM-test1.c.
tByteArray NXTCAM_I2CReply
tByteArray NXTCAM_I2CRequest
bool still_merging
boolean to signal if there are still blobs that might qualify for merging
51
Example Documentation
HTAC-test1.c
#pragma config(Sensor, S1, HTAC, sensorI2CCustomStd)

//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
/**
* HTAC-driver.h provides an API for the HiTechnic Acceleration Sensor. This program
* demonstrates how to use that API.
*
* Credits:
* - Big thanks to HiTechnic for providing me with the hardware necessary to write and test this.
*
* License: You may use this code as you wish, provided you give credit where it's due.
*
* THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 1.46 AND HIGHER.
* Xander Soldaat (mightor_at_gmail.com)
* 08 March 2009
* version 0.1
*/
#include "drivers/common.h"
#include "drivers/HTAC-driver.h"
task main () {
int _x_axis = 0;
int _y_axis = 0;
int _z_axis = 0;
tIntArray _axes;
string _tmp;
while (true) {
eraseDisplay();
_x_axis = HTACreadX(HTAC);
_y_axis = HTACreadY(HTAC);
_z_axis = HTACreadZ(HTAC);
if (!HTACreadAllAxes(HTAC, _axes)) {
nxtDisplayTextLine(4, "ERROR!!");
wait1Msec(2000);
StopAllTasks();
}
// If colour == -1, it implies an error has occurred

if ((_x_axis < 0) || (_y_axis < 0) || (_z_axis < 0)) {
wait1Msec(2000);
StopAllTasks();
}
nxtDisplayTextLine(0,"HTAC Test 1");
// We can't provide more than 2 parameters to nxtDisplayTextLine(),

// so we'll do in two steps using StringFormat()
nxtDisplayTextLine(3, "T X Y Z");
StringFormat(_tmp, "S:%4d %4d", _x_axis, _y_axis);
nxtDisplayTextLine(3, "%s %4d", _tmp, _z_axis);
StringFormat(_tmp, "A:%4d %4d", _axes.arr[0], _axes.arr[1]);

nxtDisplayTextLine(4, "%s %4d", _tmp, _axes.arr[2]);
nxtDisplayTextLine(6, "S: 1 by 1");
52
nxtDisplayTextLine(7, "A: All at once");
wait1Msec(100);
}
}
53
HTCS-test1.c
#pragma config(Sensor, S1, HTCS, sensorI2CCustomStd)

/**
* HTCS-driver.h provides an API for the HiTechnic Color Sensor. This program
*
* Credits:
*
*
* 08 March 2009
* version 0.1
*/
#include "drivers/HTCS-driver.h"
task main () {
int _color = 0;
int _colorindex = 0;
string _tmp;
tIntArray _rawrgbvalues;
tIntArray _rgbvals;
tIntArray _normrgbvals;
while (true) {
eraseDisplay();
_color = HTCSreadColor(HTCS);
_colorindex = HTCSreadColorIndex(HTCS);
// If colour == -1, it implies an error has occurred

if ((_color < 0) || (_colorindex < 0)) {
wait1Msec(2000);
StopAllTasks();
}
// A return value of false imples an error has occurred

if (!HTCSreadRGB(HTCS, _rgbvals)) {
wait1Msec(2000);
StopAllTasks();
}

if (!HTCSreadRawRGB(HTCS, _rawrgbvalues)) {
wait1Msec(2000);
StopAllTasks();
}

if (!HTCSreadNormRGB(HTCS, _normrgbvals)) {
wait1Msec(2000);
StopAllTasks();
}
nxtDisplayTextLine(0,"HTCS Test 1");

nxtDisplayTextLine(1, "Color: %d", _color);
nxtDisplayTextLine(2, "Index: %d", _colorindex);
54
// We can't provide more than 2 parameters to nxtDisplayTextLine(),
// so we'll do in two steps using StringFormat()
nxtDisplayTextLine(3, "C RGB RAW NRM");
StringFormat(_tmp, "R:%4d %4d", _rgbvals.arr[0], _rawrgbvalues.arr[0]);
nxtDisplayTextLine(4, "%s %4d", _tmp, _normrgbvals.arr[0]);
StringFormat(_tmp, "G:%4d %4d", _rgbvals.arr[1], _rawrgbvalues.arr[1]);

StringFormat(_tmp, "B:%4d %4d", _rgbvals.arr[2], _rawrgbvalues.arr[2]);

wait1Msec(100);
}
}
55
HTCS-test2.c
#pragma config(Sensor, S1, HTCS, sensorI2CCustomStd)

/**
* HTCS-driver.h provides an API for the HiTechnic Color Sensor. This program
* demonstrates how to use that API. This program allows you to calibrate the white
* value for the Color Sensor.
*
* Credits:
*
*
* 08 March 2009
* version 0.1
*/
#include "drivers/HTCS-driver.h"
task main () {
// Get control over the buttons
nNxtButtonTask = -2;
eraseDisplay();
nxtDisplayTextLine(0, "HTCS Test 2");
nxtDisplayTextLine(2, "Press orange");
nxtDisplayTextLine(3, "button to start");
nxtDisplayTextLine(4, "calibration.");
nxtDisplayTextLine(5, "Press grey");
nxtDisplayTextLine(6, "button to exit.");
while(nNxtButtonPressed != kEnterButton);
eraseDisplay();
nxtDisplayTextLine(3, "Starting");
nxtDisplayTextLine(4, "calibration.");
if (!HTCScalWhite(HTCS)) {
eraseDisplay();
PlaySound(soundException);
nxtDisplayTextLine(5, "Calibration");
nxtDisplayTextLine(6, "failed!!");
wait1Msec(2000);
StopAllTasks();
}
wait1Msec(1000);
}
56
HTDIR-test1.c
#pragma config(Sensor, S1, HTDIR, sensorI2CCustomStd)

/**
* HTDIR-driver.h provides an API for the HiTechnic IR Seeker V2. This program
*
* Changelog:
* - 0.1: Initial release
*
* Credits:
*
*
* 15 March 2009
* version 0.1
*/
#include "drivers/HTDIR-driver.h"
task main () {
int _dirDC;
int _dirAC;
tIntArray _sensorValsDC;
tIntArray _sensorValsAC;
tHTDIRDSPMode _mode;
nxtDisplayTextLine(1, "HTDIR Test 1");

nxtDisplayTextLine(3, "Press enter to");
nxtDisplayTextLine(4, "switch between");
nxtDisplayTextLine(5, "600 and 1200Hz");
wait1Msec(2000);
PlaySound(soundBeepBeep);
while(bSoundActive);
while(true) {
// You can switch between the two different DSP modes by pressing the
// orange enter button
if (time1[T1] > 1000) {
if (_mode == DSP_1200) {
_mode = DSP_600;
HTDIRsetDSPMode(HTDIR, _mode);
} else {
_mode = DSP_1200;
HTDIRsetDSPMode(HTDIR, _mode);
}
PlaySound(soundBlip);
time1[T1] = 0;
}
while(nNxtButtonPressed != kEnterButton) {
eraseDisplay();
_dirDC = HTDIRreadDCDir(HTDIR);
_dirAC = HTDIRreadACDir(HTDIR);
HTDIRreadAllDCStrength(HTDIR, _sensorValsDC);
HTDIRreadAllACStrength(HTDIR, _sensorValsAC);
if (_mode == DSP_1200)
nxtDisplayTextLine(0, " DC 1200");
else
nxtDisplayTextLine(0, " DC 600");
57
nxtDisplayTextLine(1, "D: %4d %4d", _dirDC, _dirAC);
nxtDisplayTextLine(2, "0: %4d %4d", _sensorValsDC.arr[0], _sensorValsAC.arr[0]);
nxtDisplayTextLine(7, "Enter to switch");
wait1Msec(100);
}
}
}
58
HTEOPD-test1.c
#pragma config(Sensor, S2, HTEOPD, sensorRawValue)

/**
* HTCS-driver.h provides an API for the HiTechnic EOPD Sensor. This program
*
* Credits:
*
*
* 08 March 2009
* version 0.1
*/
#include "drivers/HTEOPD-driver.h"
/*
=============================================================================
main task with some testing code
*/
task main() {
int _raw = 0;
int _processed = 0;
nNxtButtonTask = -2;
eraseDisplay();
nxtDisplayTextLine(0, "HT EOPD");

nxtDisplayTextLine(1, "Test 1");
nxtDisplayTextLine(4, "Press enter");
nxtDisplayTextLine(5, "to toggle");
nxtDisplayTextLine(6, "between short");
nxtDisplayTextLine(7, "and long range");
wait1Msec(2000);
eraseDisplay();
HTEOPDsetShortRange(HTEOPD);
while(true) {
if (time1[T1] > 1000) {
if (HTEOPDgetRange(HTEOPD) == HTEOPD_LONG_RANGE) {
HTEOPDsetShortRange(HTEOPD);
nxtDisplayClearTextLine(1);
nxtDisplayTextLine(1, "Short range");
} else {
HTEOPDsetLongRange(HTEOPD);
nxtDisplayTextLine(1, "Long range");
}
time1[T1] = 0;
}
_raw = HTEOPDgetRaw(HTEOPD);
_processed = HTEOPDgetProcessed(HTEOPD);
nxtDisplayTextLine(4, "Proc: %4d", _processed);
59
nxtDisplayTextLine(3, "Raw : %4d", _raw);
wait1Msec(100);
}
}
}
60
HTGYRO-test1.c
#pragma config(Sensor, S1, HTGYRO, sensorRawValue)

/**
* HTGYRO-driver.h provides an API for the HiTechnic Gyroscopic Sensor. This program
*
* Credits:
*
*
* 08 March 2009
* version 0.1
*/
#include "drivers/HTGYRO-driver.h"
task main () {
nxtDisplayTextLine(0, "HT Gyro");
nxtDisplayTextLine(6, "to set relative");
nxtDisplayTextLine(7, "heading");
wait1Msec(2000);
eraseDisplay();
time1[T1] = 0;
while(true) {
if (time1[T1] > 1000) {
eraseDisplay();
nxtDisplayTextLine(1, "Resetting");
nxtDisplayTextLine(1, "heading");
wait1Msec(500);
nxtDisplayTextLine(2, "Offset: %4d", HTGYROcalibrate(HTGYRO));
time1[T1] = 0;
}
eraseDisplay();
nxtDisplayTextLine(1, "Reading");
nxtDisplayTextLine(2, "Offset: %4d", HTGYROgetCalibration(HTGYRO));
nxtDisplayTextLine(4, "Gyro: %4d", HTGYROreadRot(HTGYRO));
nxtDisplayTextLine(7, "to recalibrate");
wait1Msec(100);
}
}
}
61
HTIRL-test1.c
#pragma config(Sensor, S1, HTIRL, sensorI2CCustomStd)

/**
* HTIRL-driver.h provides an API for the HiTechnic IR Link Sensor. This program
* demonstrates how to use the Power Functions API to control up to 8 motors.
*
* Credits:
*
*
* 08 March 2009
* version 0.2
*/
#include "drivers/HTIRL-driver.h"
/*
=============================================================================
main task with some testing code
*/
task main {
int MotorA_cmd = 0;
int MotorB_cmd = 0;
// Test the motors and recievers.

for (MotorA_cmd = 0; MotorA_cmd < 16; MotorA_cmd++) {
MotorB_cmd = 15 - MotorA_cmd;
PFcomboPwmMode(HTIRL, 0, MotorB_cmd, MotorA_cmd);
}
PlaySound(soundDownwardTones);
while (bSoundActive) {}
for (MotorA_cmd = 0; MotorA_cmd < 4; MotorA_cmd++) {

MotorB_cmd = 3 - MotorA_cmd;
PFcomboDirectMode(HTIRL, 0, MotorB_cmd, MotorA_cmd);
}
}
62
HTIRS-test1.c
#pragma config(Sensor, S1, HTIRS, sensorI2CCustomStd)

/**
* HTIRS-driver.h provides an API for the HiTechnic IR Seeker. This program
*
* Credits:
*
*
* 07 March 2009
* version 0.2
*/
#include "drivers/HTIRS-driver.h"
task main () {
int _dir = 0;
tIntArray _sensorData;
while(true) {
eraseDisplay();
// read all of the sensors' values at once,

// exit the app if an error occurs
if (HTIRSreadAllStrength(HTIRS, _sensorData) < 0) {
wait1Msec(2000);
StopAllTasks();
}
// read the direction from which the signal is coming,

// exit the app if an error occurs
_dir = HTIRSreadDir(HTIRS);
if (_dir < 0) {
wait1Msec(2000);
StopAllTasks();
}
// display the info from the sensor

nxtDisplayTextLine(0,"HT IR Seeker");
nxtDisplayTextLine(2, "dir: %d", _dir);
for (int i = 0; i < 5; i++) {
nxtDisplayTextLine(i + 3, "S[%i]: %d", i, ubyteToInt(_sensorData.arr[i]));
}
wait10Msec(100);
}
}
63
HTMC-test1.c
#pragma config(Sensor, S1, HTMC, sensorI2CCustomStd)

/**
* HTMC-driver.h provides an API for the HiTechnic Compass Sensor. This program
*
*
* 28 March 2009
* version 0.1
*/
#include "drivers/HTMC-driver.h"
task main () {
int _target = 0;
nxtDisplayTextLine(0, "HT Compass");
nxtDisplayTextLine(6, "to set target");
wait1Msec(2000);
eraseDisplay();
time1[T1] = 0;
while(true) {
if (time1[T1] > 1000) {
eraseDisplay();
nxtDisplayTextLine(1, "Changing");
nxtDisplayTextLine(2, "target");
wait1Msec(500);
_target = HTMCsetTarget(HTMC);
time1[T1] = 0;
}
eraseDisplay();
nxtDisplayTextLine(1, "Reading");
nxtDisplayTextLine(2, "Target: %4d", _target);
nxtDisplayTextLine(4, "Abs: %4d", HTMCreadHeading(HTMC));
nxtDisplayTextLine(5, "Rel: %4d", HTMCreadRelativeHeading(HTMC));
nxtDisplayTextLine(7, "to set target");
wait1Msec(100);
}
}
}
64
HTMC-test2.c
#pragma config(Sensor, S1, HTCOMPASS_PORT, sensorI2CCustomStd)

#pragma config(Motor, motorB, M_RIGHT, tmotorNormal, PIDControl, reversed)
#pragma config(Motor, motorC, M_LEFT, tmotorNormal, PIDControl, reversed)
/**
* HTMC-driver.h provides an API for the HiTechnic Compass Sensor. This program
* demonstrates how to use that API to calibrate the compass.
*
* The code here is made to work with the standard NXT Tribot. You will need to edit
* the WHEELDIST, WHEELSIZE and MOTORSPEED figures to make it work with your robot.
*
* Remeber that the robot shouldn't spin more than 360 degrees per 20 seconds. Also
* make sure it spins a bit more than 360, perhaps 1 and 1/4 or 1 and 1/2.
*
*
* 04 April 2009
* version 0.1
*/
#include "drivers/HTMC-driver.h"
// These measurements are in milimeters.

#define WHEELDIST 115 // distance between the wheels
#define WHEELSIZE 56 // diameter of the wheels
#define MOTORSPEED 4 // speed at which motors should turn
// Lets you know when 20 seconds is over, can help with setting up
// the initial timing and motor speed.
task timeMe() {
wait1Msec(20000);
PlaySound(soundBeepBeep);
}
// Does some voodoo maths to calculate how many times the wheels should rotate
// to make the robot spin about 360 degrees.
int numRotations() {
return ((WHEELDIST * 3142) / 1000) / ((WHEELSIZE * 3142) / 1000);
}
void startCalibration() {
if (!HTMCstartCal(HTCOMPASS_PORT)) {
eraseDisplay();
nxtDisplayTextLine(1, "ERROR: Couldn't");
nxtDisplayTextLine(2, "calibrate sensor.");
nxtDisplayTextLine(4, "Check connection");
nxtDisplayTextLine(5, "and try again.");
wait1Msec(5000);
StopAllTasks();
}
}
void stopCalibration() {
if (!HTMCstartCal(HTCOMPASS_PORT)) {
eraseDisplay();
nxtDisplayTextLine(1, "ERROR: Calibration");
nxtDisplayTextLine(2, "has failed.");
nxtDisplayTextLine(4, "Check connection");
nxtDisplayTextLine(5, "and try again.");
65
wait1Msec(5000);
StopAllTasks();
} else {
nxtDisplayTextLine(1, "SUCCESS: ");
nxtDisplayTextLine(2, "Calibr. done.");
PlaySound(soundUpwardTones);
wait1Msec(5000);
}
}
task main () {
int numDegrees = 0;
nMotorEncoder[M_RIGHT] = 0;
nMotorEncoder[M_LEFT] = 0;
// This will make the robot spin about 1.5 times, depends on many factors, YYMV, etc
numDegrees = ((numRotations() * 3) / 2) * 360;
nMotorEncoderTarget[M_RIGHT] = numDegrees;
StartTask(timeMe);
startCalibration();
motor[M_RIGHT] = MOTORSPEED;
motor[M_LEFT] = -MOTORSPEED;
while(nMotorRunState[M_RIGHT] != runStateIdle);
motor[M_LEFT] = 0;
stopCalibration();
wait1Msec(5000);
}
66
HTTMUX-test1.c
#pragma config(Sensor, S1, HTTMUX, sensorRawValue)

/**
* HTGYRO-driver.h provides an API for the HiTechnic Touch Sensor MUX. This program
*
* Credits:
*
*
* 08 March 2009
* version 0.1
*/
#include "drivers/HTTMUX-driver.h"
task main () {
string status;
while (true) {
eraseDisplay();
nxtDisplayTextLine(0, "HT Touch MUX");
for (int i = 1; i < 5; i++) {
if (HTTMUXisActive(HTTMUX, i))
nxtDisplayTextLine(i+2, "Touch %d: on", i);
else
nxtDisplayTextLine(i+2, "Touch %d: off", i);
}
nxtDisplayTextLine(7, "Status: %d", HTTMUXgetActive(HTTMUX));
wait1Msec(50);
}
}
67
MAX127-test1.c
#pragma config(Sensor, S1, MAX127, sensorI2CCustomStd)

/**
* MAX127-driver.h provides an API for the MAXIM MAX127 ADC. This program
*
*
* 08 March 2009
* version 0.1
*/
#include "drivers/MAX127-driver.h"
task main() {
int _chVal = 0;
nxtDisplayTextLine(3, "MAX127");
nxtDisplayTextLine(4, "Test prog");
wait1Msec(1000);
eraseDisplay();
while(true) {
eraseDisplay();
for (int i = 0; i < 8; i++) {
_chVal = MAX127readChan(MAX127, MAX127_I2C_ADDR, i);
// if the return value is < 0 then an error occurred
if (_chVal < 0) {
wait1Msec(2000);
StopAllTasks();
}
nxtDisplayTextLine(i, "CH[%d]: %d", i, _chVal);
}
wait1Msec(100);
}
}
68
NXTCAM-test1.c
#pragma config(Sensor, S4, cam, sensorI2CCustomFastSkipStates)

/**
* NXTCAM-driver.h provides an API for the Mindsensors NXTCam. This program
*
* Credits:
* - Gordon Wyeth for writing the original driver and cam_display program
*
*
* 07 March 2009
* version 0.2
*/
#include "drivers/NXTCAM-driver.h"
// int xscale(int x) - Scales x values from camera coordinates to screen coordinates.

int xscale(int x) {
return ((x - 12) * 99) / 87;
}
// int yscale(int y) - Scales y values from camera coordinates to screen coordinates.

int yscale(int y) {
return ((143 - y) * 63) / 143;
}
/*
Main task
*/
task main () {
blob_array _blobs;
// combine all colliding blobs into one
bool _condensed = true;
//blob_array _blobs;
int _l, _t, _r, _b;
int _nblobs;
eraseDisplay();
NXTCAMinit(cam);
while(true) {
eraseDisplay();
// Fetch all the blobs, have the driver combine all
// the colliding blobs.
_nblobs = NXTCAMgetBlobs(cam, _blobs, _condensed);
for (int i = 0; i < _nblobs; i++) {
// Draw the scaled blobs
_l = xscale(_blobs[i].x1);
_t = yscale(_blobs[i].y1);
_r = xscale(_blobs[i].x2);
_b = yscale(_blobs[i].y2);
nxtFillRect(_l, _t, _r, _b);
}
nxtDisplayTextLine(1, "%d", _nblobs);

wait1Msec(100);
}
}
69
Index
_camera_cmd min, 8
NXTCAM-driver.h, 49 readI2C, 8
_merge ubyteToInt, 8
NXTCAM-driver.h, 50 waitForI2CBus, 8
_mergeBlobs writeI2C, 9
NXTCAM-driver.h, 50 CPM_MOTOR_BAK_PWM_1
_sortBlobs HTIRL-driver.h, 29
NXTCAM-driver.h, 50 CPM_MOTOR_BAK_PWM_2
_workAround HTIRL-driver.h, 29
HTPB-driver.h, 38 CPM_MOTOR_BAK_PWM_3
addI2CHead HTIRL-driver.h, 29
HTIRL-driver.h, 29 CPM_MOTOR_BAK_PWM_4
addI2CTail HTIRL-driver.h, 29
HTIRL-driver.h, 29 CPM_MOTOR_BAK_PWM_5
arr HTIRL-driver.h, 29
tByteArray, 4 CPM_MOTOR_BAK_PWM_6
tIntArray, 4 HTIRL-driver.h, 29
arrays_in_robotc_are_bugged_as_hell CPM_MOTOR_BAK_PWM_7
tIntArray, 5 HTIRL-driver.h, 29
blob, 3 CPM_MOTOR_BRAKE
colour, 3 HTIRL-driver.h, 29
size, 3 CPM_MOTOR_FLOAT
x1, 3 HTIRL-driver.h, 28
x2, 3 CPM_MOTOR_FWD_PWM_1
y1, 3 HTIRL-driver.h, 28
y2, 3 CPM_MOTOR_FWD_PWM_2
blob_array HTIRL-driver.h, 29
NXTCAM-driver.h, 49 CPM_MOTOR_FWD_PWM_3
BUF_DATASIZE HTIRL-driver.h, 29
HTIRL-driver.h, 28 CPM_MOTOR_FWD_PWM_4
BUF_HEADSIZE HTIRL-driver.h, 29
BUF_TAILSIZE HTIRL-driver.h, 29
CDM_MOTOR_BAK HTIRL-driver.h, 29
CDM_MOTOR_BRAKE HTIRL-driver.h, 29
HTIRL-driver.h, 28 done_workaround
CDM_MOTOR_FLOAT HTPB-driver.h, 39
HTIRL-driver.h, 28 DSP_1200
CDM_MOTOR_FWD HTDIR-driver.h, 19
HTIRL-driver.h, 28 DSP_600
clearI2CBus HTDIR-driver.h, 19
common.h, 8 eCDMMotorCommand
colour HTIRL-driver.h, 28
blob, 3 eCPMMotorCommand
common.h, 7 HTIRL-driver.h, 28
clearI2CBus, 8 eHTEOPDsensorRange
max, 8 HTEOPD-driver.h, 22
MAX_ARR_SIZE, 7 encodeBuffer
70
HTIRL-driver.h, 29 HTCS-driver.h, 14
HTAC_I2C_ADDR HTCS_I2CReply
HTAC-driver.h, 11 HTCS-driver.h, 16
HTAC_I2CReply HTCS_I2CRequest
HTAC_I2CRequest HTCS_RED_RAW_REG
HTAC_X_LOW HTCS_RED_REG
HTAC_X_UP HTCScalWhite
HTAC_Y_LOW HTCS-driver.h, 13
HTAC-driver.h, 11 HTCS_BLUE_RAW_REG, 14
HTAC_Y_UP HTCS_BLUE_REG, 14
HTAC-driver.h, 11 HTCS_CAL_WHITE, 14
HTAC_Z_LOW HTCS_CMD_REG, 14
HTAC-driver.h, 11 HTCS_COLNUM_REG, 14
HTAC_Z_UP HTCS_GREEN_RAW_REG, 14
HTAC-driver.h, 11 HTCS_GREEN_REG, 14
HTAC-driver.h, 10 HTCS_I2C_ADDR, 14
HTAC_I2C_ADDR, 11 HTCS_I2CReply, 16
HTAC_I2CReply, 12 HTCS_I2CRequest, 16
HTAC_I2CRequest, 12 HTCS_RED_RAW_REG, 14
HTAC_X_LOW, 11 HTCS_RED_REG, 14
HTAC_X_UP, 11 HTCScalWhite, 15
HTAC_Y_LOW, 11 HTCSreadColor, 15
HTAC_Y_UP, 11 HTCSreadColorIndex, 15
HTAC_Z_LOW, 11 HTCSreadNormRGB, 15
HTAC_Z_UP, 11 HTCSreadRawRGB, 15
HTACreadAllAxes, 11 HTCSreadRGB, 16
HTACreadX, 11 HTSC_BLUE_NORM_REG, 14
HTACreadY, 12 HTSC_COL_INDEX_REG, 14
HTACreadZ, 12 HTSC_GREEN_NORM_REG, 14
HTACreadAllAxes HTSC_RED_NORM_REG, 15
HTAC-driver.h, 11 HTCSreadColor
HTACreadX HTCS-driver.h, 15
HTAC-driver.h, 11 HTCSreadColorIndex
HTACreadY HTCS-driver.h, 15
HTAC-driver.h, 12 HTCSreadNormRGB
HTACreadZ HTCS-driver.h, 15
HTAC-driver.h, 12 HTCSreadRawRGB
HTCS_BLUE_RAW_REG HTCS-driver.h, 15
HTCS-driver.h, 14 HTCSreadRGB
HTCS_BLUE_REG HTCS-driver.h, 16
HTCS-driver.h, 14 HTDIR_AC_DIR
HTCS_CAL_WHITE HTDIR-driver.h, 18
HTCS-driver.h, 14 HTDIR_AC_SSTR1
HTCS_CMD_REG HTDIR-driver.h, 18
HTCS_COLNUM_REG HTDIR-driver.h, 18
HTCS_GREEN_RAW_REG HTDIR-driver.h, 18
HTCS_GREEN_REG HTDIR-driver.h, 18
HTCS_I2C_ADDR HTDIR-driver.h, 18
71
HTDIR_DC_DIR HTDIR-driver.h, 19
HTDIR-driver.h, 18 HTDIRreadAllDCStrength
HTDIR_DC_SAVG HTDIR-driver.h, 20
HTDIR-driver.h, 18 HTDIRreadDCAverage
HTDIR_DC_SSTR1 HTDIR-driver.h, 20
HTDIR-driver.h, 18 HTDIRreadDCDir
HTDIR-driver.h, 18 HTDIRreadDCStrength
HTDIR-driver.h, 18 HTDIRsetDSPMode
HTDIR-driver.h, 19 HTEOPD_ILLEGAL_RANGE
HTDIR_DC_SSTR5 HTEOPD-driver.h, 22
HTDIR-driver.h, 19 HTEOPD_LONG_RANGE
HTDIR_DSP_MODE HTEOPD-driver.h, 22
HTDIR-driver.h, 19 HTEOPD_SHORT_RANGE
HTDIR_I2C_ADDR HTEOPD-driver.h, 22
HTDIR-driver.h, 19 HTEOPD-driver.h, 22
HTDIR_I2CReply eHTEOPDsensorRange, 22
HTDIR-driver.h, 21 HTEOPD_ILLEGAL_RANGE, 22
HTDIR_I2CRequest HTEOPD_LONG_RANGE, 22
HTDIR-driver.h, 21 HTEOPD_SHORT_RANGE, 22
HTDIR-driver.h, 17 HTEOPDgetProcessed, 23
DSP_1200, 19 HTEOPDgetRange, 23
DSP_600, 19 HTEOPDgetRaw, 23
HTDIR_AC_DIR, 18 HTEOPDsetLongRange, 23
HTDIR_AC_SSTR1, 18 HTEOPDsetRange, 23
HTDIR_AC_SSTR2, 18 HTEOPDsetShortRange, 23
HTDIR_AC_SSTR3, 18 HTEOPDgetProcessed
HTDIR_AC_SSTR4, 18 HTEOPD-driver.h, 23
HTDIR_AC_SSTR5, 18 HTEOPDgetRange
HTDIR_DC_DIR, 18 HTEOPD-driver.h, 23
HTDIR_DC_SAVG, 18 HTEOPDgetRaw
HTDIR_DC_SSTR1, 18 HTEOPD-driver.h, 23
HTDIR_DC_SSTR2, 18 HTEOPDsetLongRange
HTDIR_DC_SSTR4, 19 HTEOPDsetRange
HTDIR_DSP_MODE, 19 HTEOPDsetShortRange
HTDIR_I2C_ADDR, 19 HTEOPD-driver.h, 23
HTDIR_I2CReply, 21 HTGYRO_offsets
HTDIR_I2CRequest, 21 HTGYRO-driver.h, 26
HTDIRreadACDir, 19 HTGYROcalibrate
HTDIRreadACStrength, 19 HTGYRO-driver.h, 25
HTDIRreadAllACStrength, 19 HTGYRO-driver.h, 25
HTDIRreadAllDCStrength, 20 HTGYRO_offsets, 26
HTDIRreadDCAverage, 20 HTGYROcalibrate, 25
HTDIRreadDCDir, 20 HTGYROgetCalibration, 25
HTDIRreadDCStrength, 20 HTGYROreadRot, 26
HTDIRsetDSPMode, 20 HTGYROsetCalibration, 26
tHTDIRDSPMode, 19 HTGYROgetCalibration
HTDIRreadACDir HTGYRO-driver.h, 25
HTDIR-driver.h, 19 HTGYROreadRot
HTDIRreadACStrength HTGYRO-driver.h, 26
HTDIR-driver.h, 19 HTGYROsetCalibration
HTDIRreadAllACStrength HTGYRO-driver.h, 26
72
HTIRL-driver.h, 27 HTIRS_I2CReply, 33
addI2CHead, 29 HTIRS_I2CRequest, 33
addI2CTail, 29 HTIRS_SSTR1, 32
BUF_DATASIZE, 28 HTIRS_SSTR2, 32
BUF_HEADSIZE, 28 HTIRS_SSTR3, 32
BUF_TAILSIZE, 28 HTIRS_SSTR4, 32
CDM_MOTOR_BAK, 28 HTIRS_SSTR5, 32
CDM_MOTOR_BRAKE, 28 HTIRSreadAllStrength, 32
CDM_MOTOR_FLOAT, 28 HTIRSreadDir, 32
CDM_MOTOR_FWD, 28 HTIRSreadStrength, 33
CPM_MOTOR_BAK_PWM_1, 29 HTIRSreadAllStrength
CPM_MOTOR_BAK_PWM_2, 29 HTIRS-driver.h, 32
CPM_MOTOR_BAK_PWM_3, 29 HTIRSreadDir
CPM_MOTOR_BAK_PWM_5, 29 HTIRSreadStrength
CPM_MOTOR_BAK_PWM_7, 29 HTMC_CALIBRATE_CMD
CPM_MOTOR_BRAKE, 29 HTMC-driver.h, 34
CPM_MOTOR_FLOAT, 28 HTMC_HEAD_L
CPM_MOTOR_FWD_PWM_1, 28 HTMC-driver.h, 35
CPM_MOTOR_FWD_PWM_2, 29 HTMC_HEAD_U
CPM_MOTOR_FWD_PWM_4, 29 HTMC_I2C_ADDR
CPM_MOTOR_FWD_PWM_6, 29 HTMC_I2CReply
eCDMMotorCommand, 28 HTMC_I2CRequest
eCPMMotorCommand, 28 HTMC-driver.h, 36
encodeBuffer, 29 HTMC_MEASURE_CMD
PFcomboDirectMode, 29 HTMC-driver.h, 35
PFcomboPwmMode, 30 HTMC_MODE
START_DATA, 28 HTMC-driver.h, 35
START_HEAD, 28 HTMC-driver.h, 34
START_TAIL, 28 HTMC_CALIBRATE_CMD, 34
transmitIR, 30 HTMC_HEAD_L, 35
HTIRS_DIR HTMC_HEAD_U, 35
HTIRS-driver.h, 32 HTMC_I2C_ADDR, 35
HTIRS_I2C_ADDR HTMC_I2CReply, 36
HTIRS-driver.h, 32 HTMC_I2CRequest, 36
HTIRS_I2CReply HTMC_MEASURE_CMD, 35
HTIRS-driver.h, 33 HTMC_MODE, 35
HTIRS_I2CRequest HTMCreadHeading, 35
HTIRS-driver.h, 33 HTMCreadRelativeHeading, 35
HTIRS_SSTR1 HTMCsetTarget, 35
HTIRS-driver.h, 32 HTMCstartCal, 36
HTIRS_SSTR2 HTMCstopCal, 36
HTIRS-driver.h, 32 target, 36
HTIRS_SSTR3 HTMCreadHeading
HTIRS-driver.h, 32 HTMC-driver.h, 35
HTIRS_SSTR4 HTMCreadRelativeHeading
HTIRS_SSTR5 HTMCsetTarget
HTIRS-driver.h, 31 HTMCstartCal
HTIRS_DIR, 32 HTMC-driver.h, 36
HTIRS_I2C_ADDR, 32 HTMCstopCal
73
HTMC-driver.h, 36 HTCS-driver.h, 15
HTPB_A0_L HTTMUX-driver.h, 40
HTPB-driver.h, 38 HTTMUXgetActive, 40
HTPB_A0_U HTTMUXisActive, 40
HTPB-driver.h, 38 HTTMUXgetActive
HTPB_DIGCTRL HTTMUX-driver.h, 40
HTPB-driver.h, 38 HTTMUXisActive
HTPB_DIGIN HTTMUX-driver.h, 40
HTPB-driver.h, 38 max
HTPB_DIGOUT common.h, 8
HTPB-driver.h, 38 MAX_ARR_SIZE
HTPB_I2C_ADDR common.h, 7
HTPB-driver.h, 38 MAX_BLOBS
HTPB_I2CReply NXTCAM-driver.h, 49
HTPB-driver.h, 39 MAX127_I2C_ADDR
HTPB_I2CRequest MAX127-driver.h, 42
HTPB-driver.h, 39 MAX127_I2CReply
HTPB_SRATE MAX127-driver.h, 43
HTPB-driver.h, 38 MAX127_I2CRequest
HTPB-driver.h, 37 MAX127-driver.h, 43
_workAround, 38 MAX127-driver.h, 42
done_workaround, 39 MAX127_I2C_ADDR, 42
HTPB_A0_L, 38 MAX127_I2CReply, 43
HTPB_A0_U, 38 MAX127_I2CRequest, 43
HTPB_DIGCTRL, 38 MAX127readChan, 42
HTPB_DIGIN, 38 MAX127readChan
HTPB_DIGOUT, 38 MAX127-driver.h, 42
HTPB_I2C_ADDR, 38 MCP_BIT_DISSLW
HTPB_I2CReply, 39 MCP23008-driver.h, 45
HTPB_I2CRequest, 39 MCP_BIT_INTPOL
HTPB_SRATE, 38 MCP23008-driver.h, 45
HTPBReadADC, 38 MCP_BIT_ODR
HTPBReadAllADC, 38 MCP23008-driver.h, 45
HTPBReadIO, 39 MCP_BIT_SREAD
HTPBSetSamplingTime, 39 MCP23008-driver.h, 45
HTPBSetupIO, 39 MCP_I2C_ADDR
HTPBWriteIO, 39 MCP23008-driver.h, 45
HTPBReadADC MCP_REG_DEFVAL
HTPB-driver.h, 38 MCP23008-driver.h, 45
HTPBReadAllADC MCP_REG_GPINTEN
HTPBReadIO MCP_REG_GPIO
HTPBSetSamplingTime MCP_REG_GPPU
HTPBSetupIO MCP_REG_INTCAP
HTPBWriteIO MCP_REG_INTCON
HTSC_BLUE_NORM_REG MCP_REG_INTF
HTCS-driver.h, 14 MCP23008-driver.h, 45
HTSC_COL_INDEX_REG MCP_REG_IOCON
HTSC_GREEN_NORM_REG MCP_REG_IODIR
HTSC_RED_NORM_REG MCP_REG_IPOL
74
MCP23008-driver.h, 46 _camera_cmd, 49
MCP_REG_OLAT _merge, 50
MCP23008-driver.h, 46 _mergeBlobs, 50
MCP23008_I2CReply _sortBlobs, 50
MCP23008-driver.h, 47 blob_array, 49
MCP23008_I2CRequest MAX_BLOBS, 49
MCP23008-driver.h, 47 NXTCAM_CMD_REG, 49
MCP23008-driver.h, 44 NXTCAM_COUNT_REG, 49
MCP_BIT_DISSLW, 45 NXTCAM_DATA_REG, 49
MCP_BIT_INTPOL, 45 NXTCAM_I2C_ADDR, 49
MCP_BIT_ODR, 45 NXTCAM_I2CReply, 51
MCP_BIT_SREAD, 45 NXTCAM_I2CRequest, 51
MCP_I2C_ADDR, 45 NXTCAMgetAverageCenter, 50
MCP_REG_DEFVAL, 45 NXTCAMgetBlobs, 50, 51
MCP_REG_GPINTEN, 45 NXTCAMinit, 51
MCP_REG_GPIO, 45 SIDE_CENTER, 49
MCP_REG_GPPU, 45 still_merging, 51
MCP_REG_INTCAP, 45 NXTCAMgetAverageCenter
MCP_REG_INTCON, 45 NXTCAM-driver.h, 50
MCP_REG_INTF, 45 NXTCAMgetBlobs
MCP_REG_IOCON, 46 NXTCAM-driver.h, 50, 51
MCP_REG_IODIR, 46 NXTCAMinit
MCP_REG_IPOL, 46 NXTCAM-driver.h, 51
MCP_REG_OLAT, 46 PFcomboDirectMode
MCP23008_I2CReply, 47 HTIRL-driver.h, 29
MCP23008_I2CRequest, 47 PFcomboPwmMode
MCP23008ReadIO, 46 HTIRL-driver.h, 30
MCP23008ReadReg, 46 readI2C
MCP23008SetupIO, 46, 47 common.h, 8
MCP23008WriteIO, 47 SIDE_CENTER
MCP23008WriteReg, 47 NXTCAM-driver.h, 49
MCP23008ReadIO size
MCP23008-driver.h, 46 blob, 3
MCP23008ReadReg START_DATA
MCP23008-driver.h, 46 HTIRL-driver.h, 28
MCP23008SetupIO START_HEAD
MCP23008-driver.h, 46, 47 HTIRL-driver.h, 28
MCP23008WriteIO START_TAIL
MCP23008-driver.h, 47 HTIRL-driver.h, 28
MCP23008WriteReg still_merging
MCP23008-driver.h, 47 NXTCAM-driver.h, 51
min stupid_work_around_for_array_bug
common.h, 8 tByteArray, 4
NXTCAM_CMD_REG target
NXTCAM-driver.h, 49 HTMC-driver.h, 36
NXTCAM_COUNT_REG tByteArray, 4
NXTCAM-driver.h, 49 arr, 4
NXTCAM_DATA_REG stupid_work_around_for_array_bug, 4
NXTCAM-driver.h, 49 tHTDIRDSPMode
NXTCAM_I2C_ADDR HTDIR-driver.h, 19
NXTCAM-driver.h, 49 tIntArray, 4
NXTCAM_I2CReply arr, 4
NXTCAM-driver.h, 51 arrays_in_robotc_are_bugged_as_hell, 5
NXTCAM_I2CRequest transmitIR
NXTCAM-driver.h, 51 HTIRL-driver.h, 30
NXTCAM-driver.h, 48 ubyteToInt
75
common.h, 8 x2
waitForI2CBus blob, 3
common.h, 8 y1
writeI2C blob, 3
common.h, 9 y2
x1 blob, 3
blob, 3
76

RobotC Driver Reference Manual RC2

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RobotC Driver Reference Manual RC2

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RobotC Drivers

tIntArray Struct Reference

HTAC-test1.c, HTCS-test1.c, HTDIR-test1.c, and HTIRS-test1.c.

HTAC-test1.c, HTCS-test1.c, HTDIR-test1.c, and HTIRS-test1.c.byte

void clearI2CBus (tSensors link)

int max (int x1, int x2)

int min (int x1, int x2)

bool readI2C (tSensors link, tByteArray & data, int replylen)

int ubyteToInt (ubyte byteVal)

HTIRS-test1.c.bool waitForI2CBus (tSensors link)

bool writeI2C (tSensors link, tByteArray & data, int replylen)

#define HTAC_I2C_ADDR 0x02

#define HTAC_X_LOW 0x4D

#define HTAC_X_UP 0x42

#define HTAC_Y_LOW 0x4E

#define HTAC_Y_UP 0x43

#define HTAC_Z_LOW 0x4F

#define HTAC_Z_UP 0x4C

bool HTACreadAllAxes (tSensors link, tIntArray & data)

HTAC-test1.c.int HTACreadX (tSensors link)

HTAC-test1.c.int HTACreadZ (tSensors link)

#define HTCS_BLUE_RAW_REG 0x4A

#define HTCS_BLUE_REG 0x45

#define HTCS_CAL_WHITE 0x43

#define HTCS_CMD_REG 0x41

#define HTCS_COLNUM_REG 0x42

#define HTCS_GREEN_RAW_REG 0x48

#define HTCS_GREEN_REG 0x44

#define HTCS_I2C_ADDR 0x02

#define HTCS_RED_RAW_REG 0x46

#define HTCS_RED_REG 0x43

#define HTSC_BLUE_NORM_REG 0x4F

#define HTSC_COL_INDEX_REG 0x4C

#define HTSC_GREEN_NORM_REG 0x4E

bool HTCScalWhite (tSensors link)

HTCS-test2.c.int HTCSreadColor (tSensors link)

HTCS-test1.c.int HTCSreadColorIndex (tSensors link)

HTCS-test1.c.bool HTCSreadNormRGB (tSensors link, tIntArray & normrgbvals)

HTCS-test1.c.bool HTCSreadRawRGB (tSensors link, tIntArray & rawrgbvals)

HTCS-test1.c.bool HTCSreadRGB (tSensors link, tIntArray & rgbvals)

#define HTDIR_AC_DIR 0x49

#define HTDIR_AC_SSTR1 0x4A

#define HTDIR_AC_SSTR2 0x4B

#define HTDIR_AC_SSTR3 0x4C

#define HTDIR_AC_SSTR4 0x4D

#define HTDIR_AC_SSTR5 0x4E

#define HTDIR_DC_DIR 0x42

#define HTDIR_DC_SAVG 0x48

#define HTDIR_DC_SSTR1 0x43

#define HTDIR_DC_SSTR2 0x44

#define HTDIR_DC_SSTR3 0x45

#define HTDIR_DC_SSTR5 0x47

#define HTDIR_DSP_MODE 0x41

#define HTDIR_I2C_ADDR 0x10

Enumeration Type Documentation

int HTDIRreadACDir (tSensors link)

HTDIR-test1.c.int HTDIRreadACStrength (tSensors link, byte sensorNr)

int HTDIRreadAllACStrength (tSensors link, tIntArray & oBuffer)

HTDIR-test1.c.int HTDIRreadAllDCStrength (tSensors link, tIntArray & oBuffer)

HTDIR-test1.c.int HTDIRreadDCAverage (tSensors link)

int HTDIRreadDCDir (tSensors link)

HTDIR-test1.c.int HTDIRreadDCStrength (tSensors link, byte sensorNr)

bool HTDIRsetDSPMode (tSensors link, tHTDIRDSPMode mode)