camduino.h File Reference

#include "i2c.h"

Go to the source code of this file.

Data Structures
struct	position

Macros
#define	NO_DETECTED_OBJECT   31

Enumerations
enum	psensor {   PSENSOR_A = 0x1, PSENSOR_B = 0x2, PSENSOR_C = 0x4, PSENSOR_D = 0x8,   PSENSOR_E = 0x10 }

Functions
void	init_camduino (int)
void	get_ball_position (struct position *)
int	object_detected ()
int	get_pstate (enum psensor)

Variables
u8	i2c_data [I2C_PORT_N][I2C_DATA_N]
int	arduino_port
int	pstate = NO_DETECTED_OBJECT

Detailed Description

File description

Librairy to get some data from an Arduino over I2C. CMUcam4 must be connected on it and Arduino must run "CMU_Tracker_I2C" program, distance sensors must be connected to the board too.

Copyright

Trampoline is copyright (c) IRCCyN 2005-2014 Trampoline is protected by the French intellectual property law.

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; version 2 of the License.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

File informations

Date

2014/07/18

Author

Benjamin Sientzoff

Version

0.1

Macro Definition Documentation

#define NO_DETECTED_OBJECT   31

state of (all) presence sensors when there is no object

Enumeration Type Documentation

enum psensor

list of presence sensors connected to the Arduino board

Enumerator
PSENSOR_A	the first presence sensor on the left
PSENSOR_B	the second presence sensor on the left
PSENSOR_C	presence sensor on the middle
PSENSOR_D	the second sensor of the right
PSENSOR_E	the last sensor (on the right)

Function Documentation

void get_ball_position

(

struct position *

ball

)

Fill a position strucuture to get ball position

Fill a position strucuture to get ball position

Parameters

[in]

ball

A reference to the struct to fill

int get_pstate

(

enum psensor

sensor

)

get an given presence sensor state

Get an given presence sensor state

Parameters

[in]	sensor	Name of the presence sensor to examine
[out]	int	state of the sensor, return 0 if no detected object, else 1

void init_camduino

(

int

i2c_port

)

Initiate Arduino driver

Initiate Arduino driver, don't forget to call i2c_init() after. Set up i2c port, tram communication and power supply.

Parameters

[in]

i2c_port

NXT port where Arduino is connected

int object_detected

(

)

Get global presence sensors state, consider the five sensors as one

Get global presence sensors state

Parameters

[out]

int

State of the presence sensors, equals to NO_DETECTED_OBJECT if an object is not detected, else return a different value

Variable Documentation

int arduino_port

NXT port connected to Arduino board

u8 i2c_data[I2C_PORT_N][I2C_DATA_N]

buffers storing I2C data

int pstate = NO_DETECTED_OBJECT

global state of presence sensors