LoCliffs.c File Reference

Low-level reactions for cliff sensors. More...

#include "LoCliffs.h"
#include "LoDrive.h"
#include "LoSensors.h"
#include "LoIO.h"
#include "LoUtils.h"
#include "LoCMInterface.h"
#include "LoOpenInterface.h"

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Functions
void	lo_cliffs (void)
char	lo_cliffs_pending (void)
void	lo_send_cliffs (void)
	Send pending cliff sensor acknowledgement to the high level.
Variables
static char	g_cliffs [LOBOT_CLIFFS_SIZE]

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Detailed Description

Low-level reactions for cliff sensors.

This file defines the functions that implement the cliff sensor action and pending API for the low-level Robolocust control program meant to be run on the iRobot Create's Command Module.

Definition in file LoCliffs.c.

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Function Documentation

void lo_cliffs

(

void

)

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

Definition at line 85 of file LoCliffs.c.

References lo_backup(), lo_get_sensor(), lo_hibyte(), lo_lobyte(), lo_spin(), lo_update_odometry(), LOBOT_CLIFFS_ANGLE_HI, LOBOT_CLIFFS_DISTANCE_HI, LOBOT_CLIFFS_FLAGS, and LOBOT_SENSORS_CLIFF_LEFT.

char lo_cliffs_pending

(

void

)

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

Definition at line 161 of file LoCliffs.c.

References LOBOT_CLIFFS_FLAGS.

void lo_send_cliffs

(

void

)

Send pending cliff sensor acknowledgement to the high level.

Definition at line 167 of file LoCliffs.c.

References lo_tx(), LOBOT_ACK_CLIFFS, and LOBOT_CLIFFS_SIZE.