roach.h

/*

 * File:   roach.h

 * Author: mdunne

 *

 * Created on January 6, 2012, 10:59 AM

 * Modified by: Max Dunne on 2015.09.18 to implement LED functions and remap 

 * pins for NEW_ROACH functionality. 

 *

 * Implements basic functionality for Roach robot for sensors and actuators

 *

 * If using a new roach, create a NEW_ROACH macro at the project level

 *              in MPLAB-X using the global preprocessor directives.

 */

#ifndef ROACH_H

#define ROACH_H

#include <BOARD.h>

/*******************************************************************************

 * PUBLIC FUNCTION PROTOTYPES                                                  *

 ******************************************************************************/

#define BUMPER_TRIPPED 1

#define BUMPER_NOT_TRIPPED 0

#define ROACH_MAX_SPEED 100 

/**

 * @Function Roach_Init(void)

 * @param None.

 * @return None.

 * @brief  Performs all the initialization necessary for the roach. this includes initializing

 * the PWM module, the A/D converter, the data directions on some pins, and

 * setting the initial motor directions.

 * @note  None.

 * @author Max Dunne, 2012.01.06 */

void Roach_Init(void);

/**

 * @Function Roach_LeftMtrSpeed(char newSpeed)

 * @param newSpeed - A value between -100 and 100 which is the new speed

 * @param of the motor. 0 stops the motor. A negative value is reverse.

 * @return SUCCESS or ERROR

 * @brief  This function is used to set the speed and direction of the left motor.

 * @author Max Dunne, 2012.01.06 */

char Roach_LeftMtrSpeed(char newSpeed);

/**

 * @Function Roach_RightMtrSpeed(char newSpeed)

 * @param newSpeed - A value between -100 and 100 which is the new speed

 * @param of the motor. 0 stops the motor. A negative value is reverse.

 * @return SUCCESS or ERROR

 * @brief  This function is used to set the speed and direction of the left motor.

 * @author Max Dunne, 2012.01.06 */

char Roach_RightMtrSpeed(char newSpeed);

/**

 * @Function Roach_LightLevel(void)

 * @param None.

 * @return a 10-bit value corresponding to the amount of light received.

 * @brief  Returns the current light level. A higher value means less light is detected.

 * @author Max Dunne, 2012.01.06 */

unsigned int Roach_LightLevel(void);

/**

 * @Function Roach_BatteryVoltage(void)

 * @param None.

 * @return a 10-bit value corresponding to the current voltage of the roach

 * @brief  returns a 10:1 scaled value of the roach battery level

 * @author Max Dunne, 2013.07.12 */

unsigned int Roach_BatteryVoltage(void);

/**

 * @Function Roach_ReadFrontLeftBumper(void)

 * @param None.

 * @return BUMPER_TRIPPED or BUMPER_NOT_TRIPPED

 * @brief  Returns the state of the front left bumper

 * @author Max Dunne, 2012.01.06 */

unsigned char Roach_ReadFrontLeftBumper(void);

/**

 * @Function Roach_ReadFrontRightBumper(void)

 * @param None.

 * @return BUMPER_TRIPPED or BUMPER_NOT_TRIPPED

 * @brief  Returns the state of the front right bumper

 * @author Max Dunne, 2012.01.06 */

unsigned char Roach_ReadFrontRightBumper(void);

/**

 * @Function Roach_ReadRearLeftBumper(void)

 * @param None.

 * @return BUMPER_TRIPPED or BUMPER_NOT_TRIPPED

 * @brief  Returns the state of the rear left bumper

 * @author Max Dunne, 2012.01.06 */

unsigned char Roach_ReadRearLeftBumper(void);

/**

 * @Function Roach_ReadRearRightBumper(void)

 * @param None.

 * @return BUMPER_TRIPPED or BUMPER_NOT_TRIPPED

 * @brief  Returns the state of the rear right bumper

 * @author Max Dunne, 2012.01.06 */

unsigned char Roach_ReadRearRightBumper(void);

/**

 * @Function Roach_ReadBumpers(void)

 * @param None.

 * @return 4-bit value representing all four bumpers in following order: front left,front right, rear left, rear right

 * @brief  Returns the state of all 4 bumpers

 * @author Max Dunne, 2012.01.06 */

unsigned char Roach_ReadBumpers(void);

/**

 * @Function Roach_LEDSSet( unsigned char pattern)

 * @param pattern - sets LEDs on (1) or off (0) as in the pattern.

 * @return SUCCESS or ERROR

 * @brief  Forces the LEDs in (bank) to on (1) or off (0) to match the pattern.

 * @author Gabriel Hugh Elkaim, 2011.12.25 01:16 Max Dunne 2015.09.18 */

char Roach_LEDSSet(uint16_t pattern);

/**

 * @Function Roach_LEDSGet(void)

 * @return uint16_t: ERROR or state of BANK

 * @author Max Dunne, 203.10.21 01:16 2015.09.18 */

uint16_t Roach_LEDSGet(void);

/**

 * @Function Roach_BarGraph(uint8_t Number)

 * @param Number - value to light between 0 and 12 leds

 * @return SUCCESS or ERROR

 * @brief  allows all leds to be used as a bar graph

 * @author  Max Dunne 2015.09.18 */

char Roach_BarGraph(uint8_t Number);

#endif