LoWheelDrops.h File Reference

Low-level reactions for the wheel drop sensors. More...

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Defines
#define	lo_is_wheel_dropped()   lo_wheel_drops_pending()
Functions
void	lo_wheel_drops (void)
char	lo_wheel_drops_pending (void)
void	lo_send_wheel_drops (void)
	Send pending wheel drops acknowledgement to the high level.

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Detailed Description

Low-level reactions for the wheel drop sensors.

This file defines an API for examining the iRobot Create's wheel drop sensor states and stopping lobot's motors in case it has teetered off the edge of a stairway or been picked up. Additionally, this module provides an API for sending the wheel drops acknowledgement to the high level.

Definition in file LoWheelDrops.h.

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Define Documentation

 

#define lo_is_wheel_dropped

(

)

lo_wheel_drops_pending()

Returns true if the wheel drop module's internal state indicates that a wheel is dropped; false otherwise.

Definition at line 76 of file LoWheelDrops.h.

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Function Documentation

void lo_send_wheel_drops

(

void

)

Send pending wheel drops acknowledgement to the high level.

Definition at line 96 of file LoWheelDrops.c.

References lo_tx(), and LOBOT_ACK_WHEEL_DROPS.

void lo_wheel_drops

(

void

)

This function reacts to the iRobot Create's wheel drop sensors. If any of them are indeed active, it sets a flag to indicate to the main program that a wheel drops acknowledgement needs to be sent to the high level.

Definition at line 78 of file LoWheelDrops.c.

References lo_get_sensor(), and lo_stop_immediate.

char lo_wheel_drops_pending

(

void

)

This function returns true if Robolocust's low-level Command Module control program reacted to the Create robot's wheel drop sensors and needs to send an acknowledgement to the high level letting it know what the low level did.

Definition at line 90 of file LoWheelDrops.c.