LoBumps.c File Reference

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

#include "LoBumps.h"
#include "LoIO.h"
#include "LoOpenInterface.h"

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Functions
void	lo_bumps (void)
char	lo_bumps_pending (void)
void	lo_send_bumps (void)
	Send pending bumps acknowledgement to the high level.
Variables
static char	g_bumps [LOBOT_BUMPS_SIZE]

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Detailed Description

Low-level reactions for bump sensors.

This file defines the functions that implement the bump 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 LoBumps.c.

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Function Documentation

void lo_bumps

(

void

)

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

Definition at line 84 of file LoBumps.c.

References lo_backup(), lo_get_sensor(), lo_hibyte(), lo_lobyte(), lo_rear_bumps_spin(), lo_spin(), lo_stop_immediate, lo_update_odometry(), LOBOT_BUMP_ACK_REAR_LEFT, LOBOT_BUMPS_ANGLE_HI, LOBOT_BUMPS_DISTANCE_HI, LOBOT_BUMPS_FLAGS, LOBOT_OI_BUMP_LEFT, and LOBOT_SENSORS_BUMPS.

char lo_bumps_pending

(

void

)

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

Definition at line 154 of file LoBumps.c.

References LOBOT_BUMPS_FLAGS.

void lo_send_bumps

(

void

)

Send pending bumps acknowledgement to the high level.

Definition at line 160 of file LoBumps.c.

References lo_tx(), LOBOT_ACK_BUMPS, LOBOT_BUMPS_FLAGS, and LOBOT_BUMPS_SIZE.