Header file for the EyeBot 7 functions. More...

#include "types.h"

Functions
LCD
Available functions for the LCD
int	LCDPrintf (const char *format,...)
	Print formatted string to LCD and refresh LCD. Cursor position is updated. More...

int	LCDSetPrintf (int row, int column, const char *format,...)
	LCDPrintf with text position specified. More...

int	LCDClear (void)
	Clear the LCD display and all display buffers ie. turn it black. More...

int	LCDSetPos (int row, int column)
	Set the text cursor position to (row, column). More...

int	LCDGetPos (int row, int column)
	Get the text cursor position. More...

int	LCDSetColor (COLOR fg, COLOR bg)
	Set the default color for text (including background). More...

int	LCDSetFont (int font, int variation)
	Sets the font using font type and variation. More...

int	LCDSetFontSize (int fontsize)
	Sets the font size. More...

int	LCDSetMode (int mode)
	Update the internal mode flag bits. More...

int	LCDMenu (char st1, char st2, char st3, char st4)
	Set menu entries in KEY_CLASSIC mode (4-buttons). More...

int	LCDMenuI (int pos, char *string, COLOR fg, COLOR bg)
	Set specific menu entry in KEY_CLASSIC mode (index given by pos). More...

int	LCDGetSize (int x, int y)
	Get LCD resolution in pixels. More...

int	LCDPixel (int x, int y, COLOR col)
	Sets the color of the pixel at (x,y) coordinate to color. More...

int	LCDPixelInvert (int x, int y)
	Bit-invert the color of the pixel at (x,y) coordinate. More...

COLOR	LCDGetPixel (int x, int y)
	Get the RGB color value of the pixel at (x,y) coordinate. More...

int	LCDLine (int x1, int y1, int x2, int y2, COLOR col)
	Draw a color line from (x1,y1) to (x2,y2). More...

int	LCDLineInvert (int x1, int y1, int x2, int y2)
	Draw a line from (x1,y1) to (x2,y2). The line pixels will invert the color of existing pixels. More...

int	LCDArea (int x1, int y1, int x2, int y2, COLOR col, int fill)
	Draw a color-filled rectangle with (x1,y1) as top-left coordinate and (x2,y2) as the bottom-right coordinate. More...

int	LCDAreaInvert (int x1, int y1, int x2, int y2)
	Draw a rectangle with (x1,y1) as top-left coordinate and (x2,y2) as the bottom-right coordinate. The pixels in the specified area will invert the color of existing pixels. More...

int	LCDCircle (int x1, int y1, int size, COLOR col, int fill)
	Draws a circle. More...

int	LCDCircleInvert (int x1, int y1, int size)
	Inverts the pixels inside of the given circle. More...

int	LCDImageSize (int t)
	Specifies the size of subsequent LCDImage functions. More...

int	LCDImageStart (int x, int y, int xs, int ys)
	Sets the location and size parameters for subsequent image draws. More...

int	LCDImage (BYTE *img)
	Draws a colour (RGB) image to the LCD. More...

int	LCDImageGray (BYTE *g)
	Draws a greyscale [0..255] image to the LCD. More...

int	LCDImageBinary (BYTE *b)
	Draws a binary [0..1] image to the LCD. More...

int	LCDRefresh (void)
	Refresh the screen. Refreshes the menu. More...

KEY
Available functions for usage of the Keys
int	KEYGet (void)
	Blocking read (and wait) for key press (returns KEY1..KEY4) More...

int	KEYRead (void)
	Non-blocking read of key press (returns NOKEY=0 if no key) More...

int	KEYWait (int key)
	Wait for specific keys to be pressed. (use ANYKEY for any key) More...

int	KEYGetXY (int x, int y)
	Blocking read for touch at any position, and returns the coordinates of the pressed position. More...

int	KEYReadXY (int x, int y)
	Non-blocking read for touch at any position, returns coordinates of pressed position. More...

CAM
Available functions for usage of the Camera
int	CAMInit (int resolution)
	Initialises the camera. More...

int	CAMRelease (void)
	Stops and releases all camera structures. More...

int	CAMGet (BYTE *buf)
	Retrieve a camera frame into the provided buffer. More...

int	CAMGetGray (BYTE *buf)
	Grabs a gray image off the camera. More...

IP
Available functions for image processing
int	IPSetSize (int resolution)
	Sets the size for the image processing (also automatically set by CAMInit). More...

int	IPReadFile (char filename, BYTE img)
	Read PNM file, fill/crop if req.; return 0 for color, 1 for gray image. More...

int	IPWriteFile (char filename, BYTE img)
	Write color PNM file. More...

int	IPWriteFileGray (char filename, BYTE gray)
	Write greyscale PNM file. More...

void	IPLaplace (BYTE grayIn, BYTE grayOut)
	apply Laplace tranform to the image More...

void	IPSobel (BYTE imageIn, BYTE imageOut)
	apply Sobel tranform to the image More...

void	IPCol2Gray (BYTE imgIn, BYTE grayOut)
	Transfer color to gray image. More...

void	IPGray2Col (BYTE imgIn, BYTE colOut)
	Transfer grey to color (3-byte) image. More...

void	IPRGB2Col (BYTE r, BYTE g, BYTE b, BYTE imgOut)
	Transfer grey to color (3-byte) image. More...

void	IPCol2HSI (BYTE img, BYTE h, BYTE s, BYTE i)
	Transfer color image to hue sat int. More...

void	IPOverlay (BYTE c1, BYTE c2, BYTE *cOut)
	Overlay c2 onto c1, all color images. More...

void	IPOverlayGray (BYTE g1, BYTE g2, COLOR col, BYTE *cOut)
	Overlay gray image g2 onto g1, using col. More...

COLOR	IPPRGB2Col (BYTE r, BYTE g, BYTE b)
	Transforms RGB to a COLOR (for one Pixel) More...

void	IPPCol2RGB (COLOR col, BYTE r, BYTE g, BYTE *b)
	Transforms COLOR to RGB (for one Pixel) More...

void	IPPCol2HSI (COLOR c, BYTE h, BYTE s, BYTE *i)
	Transforms RGB to HSI (for one pixel) More...

BYTE	IPPRGB2Hue (BYTE r, BYTE g, BYTE b)
	Convert RGB to hue (0 for gray values) More...

void	IPPRGB2HSI (BYTE r, BYTE g, BYTE b, BYTE h, BYTE s, BYTE *i)
	Convert RGB to hue, sat, int; hue=0 for gray values. More...

OS
Available functions for obtaining system information
char *	OSExecute (char *command)
	Executes a system command and obtains the string returned after the command. More...

int	OSVersion (char *buf)
	Returns string containing running RoBIOS version. More...

int	OSVersionIO (char *buf)
	Gives the version of the IO board. More...

int	OSMachineSpeed (void)
	Inform the user how fast the processor runs. More...

int	OSMachineType (void)
	Inform the user in which environment the program runs. More...

int	OSMachineName (char *buf)
	Inform the user with which name the Eyebot is titled. More...

int	OSMachineID (void)
	Inform the user with which ID the Eyebot is titled. More...

MT
Available functions for usage of the Multitasking
int	MTInit (void)
	initialises the threads More...

int	MTSleep (int n)
	sleeps for 10ms ie n/100s More...

TASK	MTSpawn (void (fct)(void *), int id)
	Create and initialize thread with given ID. More...

int	MTGetUID (TASK t)
	gets the ID of the taks More...

int	MTKill (TASK t)
	kills the task t More...

int	MTExit (void)
	kills current task More...

int	SEMAInit (SEMA *sem, int val)
	initialises the semaphores More...

int	SEMALock (SEMA *sem)
	locks the given semaphoe More...

int	SEMAUnlock (SEMA *sem)
	unlocks the given semaphore More...

int	OSWait (int n)
	Waits for 1 ms. More...

TIMER	OSAttachTimer (int scale, void(*fct)(void))
	adds a function to a 1kHz/scale timer, ie. executes every 1ms*scale usage: OSAttachTimer(<scale>, &<function>); More...

int	OSDetachTimer (TIMER t)
	removes the Timer from the list More...

int	OSSetTime (int hrs, int mins, int secs)
	sets the system time More...

int	OSGetTime (int hrs, int mins, int secs, int ticks)
	Get system time (ticks in 1/100 sec) More...

int	OSGetCount (void)
	gives you the count in 1/100 sec since the system start More...

SER
Available functions for usage of the serial communication
int	SERInit (int interface, int baud, int handshake)
	Initialises the port. More...

int	SERSendChar (int interface, char ch)
	Sends a single character to the given port handle. More...

int	SERSend (int interface, char *buf)
	Sends a string to the given port handle. More...

char	SERReceiveChar (int interface)
	Receives a single character from the given port handle. More...

int	SERReceive (int interface, char *buf)
	Receives a string from port handle. More...

bool	SERCheck (int interface)
	checks and flushes the port by sending enter until seeing prompt More...

int	SERFlush (int interface)
	flushes the port More...

int	SERClose (int interface)
	closes the port More...

AU
Available functions for usage of the audio on the eyebot
int	AUBeep (void)
	Play beep sound. More...

int	AUTone (int freq, int time)
	Play tone with FREQ for time/100 sec. More...

int	AUCheckTone (void)
	Non-blocking test if tone has finished. More...

int	AUPlay (BYTE *sample)
	Play audio sample. More...

int	AUCheckPlay (void)
	Non-blocking test if playing has finished. More...

int	AUMicrophone (void)
	Return microphone A-to-D sample value. More...

int	AURecord (BYTE *buf, int time, long freq)
	Record sound for time/100sec using sample FREQ. More...

int	AUCheckRecord (void)
	Non-blocking check whether recording has finished. More...

PSD
Available functions for access of the IR PSDs
int	PSDGet (int psd)
	Delivers actual timestamp or distance measured by the selected PSD. More...

int	PSDGetRaw (int psd)
	Delivers raw-data measured by the selected PSD. More...

SERVO
Available functions for usage of the Servos
int	SERVOSet (int servo, int angle)
	Set the given servos to the same given angle depending on table value. More...

int	SERVOSetRaw (int servo, int angle)
	Set the given servos to the same given angle in raw mode. More...

int	SERVORange (int servo, int low, int high)
	Sets the range for the servos. More...

MOTOR
Available functions for usage of the Motors
int	MOTORDrive (int motor, int speed)
	Set the given motors to the same given speed dependant on hdt table. More...

int	MOTORDriveRaw (int motor, int speed)
	Set the given motor to a given speed. More...

int	MOTORPID (int motor, int p, int i, int d)
	Set the given motors with PID control. More...

int	MOTORPIDOff (int motor)
	Shuts off PID control. More...

int	MOTORSpeed (int motor, int ticks)
	Sets the controlled motor speed in ticks/sec. More...

ENCODER
Available functions for usage of the encoders
int	ENCODERRead (int quad)
	Reads the value from the encoder. More...

int	ENCODERReset (int quad)
	Resets the encoder to 0. More...

VW
Available functions for usage of VW drive functions
int	VWSetSpeed (int linSpeed, int angSpeed)
	Sets the VW speed, angle. More...

int	VWGetSpeed (int linSspeed, int angSpeed)
	Obtains the current speeds. More...

int	VWSetPosition (int x, int y, int phi)
	Sets the position wrt current position. More...

int	VWGetPosition (int x, int y, int *phi)
	Gets the position wrt original position. More...

int	VWControl (int Vv, int Tv, int Vw, int Tw)
	Set PI params. for v and w (typical 70 30 70 10) More...

int	VWControlOff (void)
	Stop PI control for v and w. More...

int	VWStraight (int dist, int lin_speed)
	Drives straight. More...

int	VWTurn (int angle, int ang_speed)
	Turns the vehicle on the spot. More...

int	VWCurve (int dist, int angle, int lin_speed)
	Turns the vehicle in a curve. More...

int	VWDrive (int dx, int dy, int lin_speed)
	Turns the vehicle in a curve: x[mm] straight and y[mm] left, x>\|y\|. More...

int	VWDriveRemain (void)
	Checks the remaining drive time. More...

int	VWDriveDone (void)
	Checks to see if the current drive is complete. More...

int	VWDriveWait (void)
	Blocks until the drive is complete. More...

int	VWStalled (void)
	Checks to see if the vehicle is stalled. More...

DIGITAL
Available functions for usage of the IO pins
int	DIGITALSetup (int io, char direction)
	Sets up the digital input/output pins. More...

int	DIGITALRead (int io)
	Reads the digital input/output pins. More...

int	DIGITALReadAll (void)
	Reads all digital pins. More...

int	DIGITALWrite (int io, int state)
	Writes to the digital input/output pins. More...

int	ANALOGRead (int channel)
	Reads the analog channel on the IO board. More...

int	ANALOGVoltage (void)
	Finds the Analog Voltage as read from the IO board. More...

IRTV
Available functions for usage of the IR remote control
int	IRTVGet (void)
	Blocking read of IRTV command and returns the keycode. More...

int	IRTVRead (void)
	Non-blocking read, return 0 if nothing and returns the keycode. More...

int	IRTVFlush (void)
	Terminates the remote control decoder and releases the irtv thread. More...

int	IRTVGetStatus (void)
	Checks to see if IR input is enabled;. More...

RADIO
Available functions for usage of the radio communication to the other eyebots
int	RADIOInit (void)
	Starts radio communication between the Eyebots. More...

int	RADIOGetID (void)
	Get own radio ID. More...

int	RADIOSend (int id_no, BYTE *buf, int size)
	Send spec. number of bytes to ID destination. More...

int	RADIOReceive (int id_no, BYTE buf, int *size)
	Read num. of bytes from ID source. More...

int	RADIOCheck (int *id_no)
	Non-blocking check whether message is waiting. More...

int	RADIOStatus (int IDlist[])
	Returns number of robots (incl. self) and list of IDs in network. More...

int	RADIORelease (void)
	Terminate radio communication. More...

Detailed Description

Header file for the EyeBot 7 functions.

Author: Marcus Pham, Thomas Braunl, June 2016

Function Documentation

int ANALOGRead ( int channel )

Reads the analog channel on the IO board.

Parameters

the	channel to read from [1..8]

Returns: a hex value representing the analog value

int ANALOGVoltage ( void )

Finds the Analog Voltage as read from the IO board.

Returns: the voltage*100, on failure returns -1

int AUBeep ( void )

Play beep sound.

Returns: 0 always

int AUCheckPlay ( void )

Non-blocking test if playing has finished.

int AUCheckRecord ( void )

Non-blocking check whether recording has finished.

Returns: 0 if incomplete, 1 if complete

int AUCheckTone ( void )

Non-blocking test if tone has finished.

int AUMicrophone ( void )

Return microphone A-to-D sample value.

Returns: the Analog to Digital value

int AUPlay ( BYTE * sample )

Play audio sample.

Parameters

sample the raw audio file

Returns: 0 always

int AURecord	(	BYTE *	buf,
		int	time,
		long	freq
	)

Record sound for time/100sec using sample FREQ.

Parameters

buf	the buffer to record audio to
time	the length of the recording
freq	the sample freq

Returns: 0 always

int AUTone	(	int	freq,
		int	time
	)

Play tone with FREQ for time/100 sec.

Parameters

freq	the frequency of the beep
time	the time/100s for the beep to play

Returns: 0 always

int CAMGet ( BYTE * buf )

Retrieve a camera frame into the provided buffer.

Parameters

BYTE	*buf: the buffer to store the image

Returns: Nonzero on success, zero on failure.

int CAMGetGray ( BYTE * buf )

Grabs a gray image off the camera.

Parameters

the	byte stream to store the image data, data in Gray format

Returns: 0 iff initialised correctly, otherwise 1

int CAMInit ( int resolution )

Initialises the camera.

Parameters

int	resolution The resolution of the camera (QQVGA, QVGA, VGA, CAM1MP, CAMHD, CAM5MP, CUSTOM) default QVGA

Returns: Nonzero on success, zero on failure.

int CAMRelease ( void )

Stops and releases all camera structures.

Returns: Nonzero on success, zero on failure.

Releases all allocated memory and stops video capture.

int DIGITALRead ( int io )

Reads the digital input/output pins.

Parameters

io	the pin to check status [1..16]

Returns: the status of the pin

int DIGITALReadAll ( void )

Reads all digital pins.

Returns: an integer representing the value current status of all pins MSB first

int DIGITALSetup	(	int	io,
		char	direction
	)

Sets up the digital input/output pins.

Parameters

io	the pin to setup [1..16]
direction	[i-n/o-ut/I-n pull-up/J-n pull-down]

Returns: 0 on success, 1 on failure

int DIGITALWrite	(	int	io,
		int	state
	)

Writes to the digital input/output pins.

Parameters

io	the pin to set [1..16]
state	the state of the pin [0 or 1]

Returns: 0 on success, 1 on failure

int ENCODERRead ( int quad )

Reads the value from the encoder.

Parameters

quad	the encoder to read from [1..4]

Returns: the encoder value on success, 1 on failure

int ENCODERReset ( int quad )

Resets the encoder to 0.

Parameters

quad	the encoder to reset [1..4]

Returns: 0 on success, 1 on failure

void IPCol2Gray	(	BYTE *	imgIn,
		BYTE *	grayOut
	)

Transfer color to gray image.

Parameters

imgIn	the input image
grayOut	the formatted output image

void IPCol2HSI	(	BYTE *	img,
		BYTE *	h,
		BYTE *	s,
		BYTE *	i
	)

Transfer color image to hue sat int.

Parameters

img	the input image
h	the hue
s	the saturation
i	the intensity

void IPGray2Col	(	BYTE *	imgIn,
		BYTE *	colOut
	)

Transfer grey to color (3-byte) image.

Parameters

imgIn	the input image
colOut	the formatted output image

void IPLaplace	(	BYTE *	grayIn,
		BYTE *	grayOut
	)

apply Laplace tranform to the image

Parameters

grayIn	the input image
grayOut	the formatted output image

void IPOverlay	(	BYTE *	c1,
		BYTE *	c2,
		BYTE *	cOut
	)

Overlay c2 onto c1, all color images.

Parameters

c2
c1
cOut	the output image

void IPOverlayGray	(	BYTE *	g1,
		BYTE *	g2,
		COLOR	col,
		BYTE *	cOut
	)

Overlay gray image g2 onto g1, using col.

Parameters

g1
g2
col
cOut	the output image

void IPPCol2HSI	(	COLOR	c,
		BYTE *	h,
		BYTE *	s,
		BYTE *	i
	)

Transforms RGB to HSI (for one pixel)

Parameters

COLOR	c the color to transform
h	the hue
s	the saturation
i	the intensity

void IPPCol2RGB	(	COLOR	col,
		BYTE *	r,
		BYTE *	g,
		BYTE *	b
	)

Transforms COLOR to RGB (for one Pixel)

Parameters

r	the red
g	the green
b	the blue
COLOR	the COLOR

COLOR IPPRGB2Col	(	BYTE	r,
		BYTE	g,
		BYTE	b
	)

Transforms RGB to a COLOR (for one Pixel)

Parameters

r	the red
g	the green
b	the blue

Returns: COLOR the COLOR

void IPPRGB2HSI	(	BYTE	r,
		BYTE	g,
		BYTE	b,
		BYTE *	h,
		BYTE *	s,
		BYTE *	i
	)

Convert RGB to hue, sat, int; hue=0 for gray values.

Parameters

r	the red
g	the green
b	the blue
h	the hue
s	the saturation
i	the intensity

BYTE IPPRGB2Hue	(	BYTE	r,
		BYTE	g,
		BYTE	b
	)

Convert RGB to hue (0 for gray values)

Parameters

r	the red
g	the green
b	the blue

Returns: BYTE a hue value

int IPReadFile	(	char *	filename,
		BYTE *	img
	)

Read PNM file, fill/crop if req.; return 0 for color, 1 for gray image.

Parameters

filename	the file to open
img	the buffer to store the image

Returns: Returns: 1 =PBM, 2 =PGM, 3 =PPM (or 4, 5, 6 for binary versions)

void IPRGB2Col	(	BYTE *	r,
		BYTE *	g,
		BYTE *	b,
		BYTE *	imgOut
	)

Transfer grey to color (3-byte) image.

Parameters

imgIn	the input image
colOut	the formatted output image

int IPSetSize ( int resolution )

Sets the size for the image processing (also automatically set by CAMInit).

Parameters

mode	the resolution (QQVGA, QVGA, VGA, CAM1MP, CAMHD, CAM5MP, CUSTOM) specifying the resolution of the camera

Returns: 0 if initialised correctly, otherwise 1

void IPSobel	(	BYTE *	imageIn,
		BYTE *	imageOut
	)

apply Sobel tranform to the image

Parameters

imageIn	the input image
imageOut	the formatted output image

int IPWriteFile	(	char *	filename,
		BYTE *	img
	)

Write color PNM file.

Parameters

filename	the file to save to
img	the buffer to store the image

Returns: 0 always

int IPWriteFileGray	(	char *	filename,
		BYTE *	gray
	)

Write greyscale PNM file.

Parameters

filename	the file to save to
img	the buffer to store the image

Returns: 0 always

int IRTVFlush ( void )

Terminates the remote control decoder and releases the irtv thread.

Returns: 0 always

int IRTVGet ( void )

Blocking read of IRTV command and returns the keycode.

Returns: Next code from the buffer

int IRTVGetStatus ( void )

Checks to see if IR input is enabled;.

Returns: int retVal: whether IR input is enabled [on = 1, off =0]

int IRTVRead ( void )

Non-blocking read, return 0 if nothing and returns the keycode.

Returns: Next code from the buffer

int KEYGet ( void )

Blocking read (and wait) for key press (returns KEY1..KEY4)

Returns: (int) KEYCODE retKey : Keycode value

int KEYGetXY	(	int *	x,
		int *	y
	)

Blocking read for touch at any position, and returns the coordinates of the pressed position.

Returns: 0 always

int KEYRead ( void )

Non-blocking read of key press (returns NOKEY=0 if no key)

Returns: (int) KEYCODE retKey : Keycode value

int KEYReadXY	(	int *	x,
		int *	y
	)

Non-blocking read for touch at any position, returns coordinates of pressed position.

Returns: 0 on a keypress, 1 otherwise

int KEYWait ( int key )

Wait for specific keys to be pressed. (use ANYKEY for any key)

Parameters

int	key : Expected keycode values (KEY1..KEY4)

Returns: (int) KEYCODE retKey : Keycode value

int LCDArea	(	int	x1,
		int	y1,
		int	x2,
		int	y2,
		COLOR	col,
		int	fill
	)

Draw a color-filled rectangle with (x1,y1) as top-left coordinate and (x2,y2) as the bottom-right coordinate.

Parameters

int	x1 : X-coordinate of top-left pixel
int	y1 : Y-coordinate of top-left pixel
int	x2 : X-coordinate of bottom-right pixel
int	y2 : Y-coordinate of bottom-right pixel
COLOR	col : RGB fill color value

Returns: int retVal : always 0

int LCDAreaInvert	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)

Draw a rectangle with (x1,y1) as top-left coordinate and (x2,y2) as the bottom-right coordinate. The pixels in the specified area will invert the color of existing pixels.

Parameters

int	x1 : X-coordinate of top-left pixel
int	y1 : Y-coordinate of top-left pixel
int	x2 : X-coordinate of bottom-right pixel
int	y2 : Y-coordinate of bottom-right pixel

Returns: int retVal : always 0

int LCDCircle	(	int	x1,
		int	y1,
		int	size,
		COLOR	col,
		int	fill
	)

Draws a circle.

Parameters

int	x1 : X-coordinate of the centre
int	y1 : Y-coordinate of the centre
int	size : radius of the circle
COLOR	col: the color of the circle
int	fill : fill(1) or no fill(0)

Returns: int retVal : always 0

int LCDCircleInvert	(	int	x1,
		int	y1,
		int	size
	)

Inverts the pixels inside of the given circle.

Parameters

int	x1 : X-coordinate of the centre
int	y1 : Y-coordinate of the centre
int	r the radius of the circle

Returns: int retVal : always 0

int LCDClear ( void )

Clear the LCD display and all display buffers ie. turn it black.

Returns: int retVal : always 0

COLOR LCDGetPixel	(	int	x,
		int	y
	)

Get the RGB color value of the pixel at (x,y) coordinate.

Parameters

int	x : X-coordinate of the pixel
int	y : Y-coordinate of the pixel

Returns: COLOR color : RGB color value

int LCDGetPos	(	int *	row,
		int *	column
	)

Get the text cursor position.

Parameters

int*	row : Pointer to cursor row index
int*	column : Pointer to cursor column index

Returns: int retVal : always 0

int LCDGetSize	(	int *	x,
		int *	y
	)

Get LCD resolution in pixels.

Parameters

x	: Where to store the width of the LCD
y	: Where to store the height of the LCD

Returns: int retVal : always 0

int LCDImage ( BYTE * img )

Draws a colour (RGB) image to the LCD.

Parameters

img	: A pointer to the BYTE buffer of the image

Returns: int retVal : always 0

int LCDImageBinary ( BYTE * b )

Draws a binary [0..1] image to the LCD.

Parameters

img	: A pointer to the BYTE buffer of the image

Returns: int retVal : always 0

int LCDImageGray ( BYTE * g )

Draws a greyscale [0..255] image to the LCD.

Parameters

img	: A pointer to the BYTE buffer of the image

Returns: int retVal : always 0

int LCDImageSize ( int t )

Specifies the size of subsequent LCDImage functions.

Parameters

int	type: the size of the image (QQVGA, QVGA, VGA, CAM1MP, CAMHD, CAM5MP, CUSTOM), default QVGA

Returns: int ret: always 0

int LCDImageStart	(	int	x,
		int	y,
		int	xs,
		int	ys
	)

Sets the location and size parameters for subsequent image draws.

Parameters

int	t : the image type
int	x : x-coordinate of top-left image position
int	y : y-coordinate of top-left image position
int	xs : Image width
int	ys : Image height

Returns: int retVal : always 0

int LCDLine	(	int	x1,
		int	y1,
		int	x2,
		int	y2,
		COLOR	col
	)

Draw a color line from (x1,y1) to (x2,y2).

Parameters

int	x1 : X-coordinate of first pixel
int	y1 : Y-coordinate of first pixel
int	x2 : X-coordinate of second pixel
int	y2 : Y-coordinate of second pixel
COLOR	color : RGB color value for the pixel

Returns: int retVal : always 0

int LCDLineInvert	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)

Draw a line from (x1,y1) to (x2,y2). The line pixels will invert the color of existing pixels.

Parameters

int	x1 : X-coordinate of first pixel
int	y1 : Y-coordinate of first pixel
int	x2 : X-coordinate of second pixel
int	y2 : Y-coordinate of second pixel

Returns: int retVal : always 0

int LCDMenu	(	char *	st1,
		char *	st2,
		char *	st3,
		char *	st4
	)

Set menu entries in KEY_CLASSIC mode (4-buttons).

Parameters

char*	string1 : Menu entry for KEY1 in classic mode
char*	string2 : Menu entry for KEY2 in classic mode
char*	string3 : Menu entry for KEY3 in classic mode
char*	string4 : Menu entry for KEY4 in classic mode

Returns: int retVal : always 0

int LCDMenuI	(	int	pos,
		char *	string,
		COLOR	fg,
		COLOR	bg
	)

Set specific menu entry in KEY_CLASSIC mode (index given by pos).

Parameters

int	pos : Select menu entry in classic mode (from 1->4)
char*	string : Menu entry for the key at specified index
XColor	fgcol : Textcolor for the menu
XColor	bgcol : Background color for the menu

Returns: int retVal : always 0

int LCDPixel	(	int	x,
		int	y,
		COLOR	col
	)

Sets the color of the pixel at (x,y) coordinate to color.

Parameters

int	x : X-coordinate of the pixel
int	y : Y-coordinate of the pixel
col	: RGB color value for the pixel

Returns: int retVal : always 0

int LCDPixelInvert	(	int	x,
		int	y
	)

Bit-invert the color of the pixel at (x,y) coordinate.

Parameters

int	x : X-coordinate of the pixel
int	y : Y-coordinate of the pixel

Returns: int retVal : always 0

int LCDPrintf	(	const char *	format,
			...
	)

Print formatted string to LCD and refresh LCD. Cursor position is updated.

Parameters

const char* format : Formatted string

Returns: int retVal : always 0

int LCDRefresh ( void )

Refresh the screen. Refreshes the menu.

Returns: int retVal : always 0

int LCDSetColor	(	COLOR	fg,
		COLOR	bg
	)

Set the default color for text (including background).

Parameters

fg	: Default color for text
bg	: Default color for text background

Returns: 0 always

int LCDSetFont	(	int	font,
		int	variation
	)

Sets the font using font type and variation.

Parameters

int	font: The type of font (HELVETICA/TIMES/COURIER)
int	variation: The variation (NORMAL/BOLD/ITALICS)

Returns: 0 always

int LCDSetFontSize ( int fontsize )

Sets the font size.

Parameters

int	fontsize: The size of subsequent printf (8, 12, 14, 18, 24)

Returns: 0 on success, 1 for invalid fontsize

int LCDSetMode ( int mode )

Update the internal mode flag bits.

Parameters

int	mode : LCD Mode flag (default = 0)

Returns: int retVal : always 0

int LCDSetPos	(	int	row,
		int	column
	)

Set the text cursor position to (row, column).

Parameters

int	row : Text cursor row index
int	column : Text cursor column index

Returns: int retVal : always 0

int LCDSetPrintf	(	int	row,
		int	column,
		const char *	format,
			...
	)

LCDPrintf with text position specified.

Parameters

int	row : Cursor position
int	column : Cursor position
const	char* format : Formatted string

Returns: int retVal : always 0

int MOTORDrive	(	int	motor,
		int	speed
	)

Set the given motors to the same given speed dependant on hdt table.

Parameters

motor	the motor to set [1..4]
speed	: motor speed in percent [-100 ..+100]

Returns: 0 on success, 1 on failure

int MOTORDriveRaw	(	int	motor,
		int	speed
	)

Set the given motor to a given speed.

Parameters

motor	the motor to set [1..4]
speed	: motor speed [-100 ..+100]

Returns: 0 on success, 1 on failure

int MOTORPID	(	int	motor,
		int	p,
		int	i,
		int	d
	)

Set the given motors with PID control.

Parameters

motor	the motor to set [1..4]
p	the p setting [1..255]
i	the i setting [1..255]
d	the d setting [1..255]

Returns: 0 on success, 1 on failure

int MOTORPIDOff ( int motor )

Shuts off PID control.

Parameters

motor the motor to set [1..4]

Returns: 0 on success, 1 on failure

int MOTORSpeed	(	int	motor,
		int	ticks
	)

Sets the controlled motor speed in ticks/sec.

Parameters

motor	the motor to set [1..4]
ticks	the number of ticks per sec

Returns: 0 on success, 1 on failure

int MTExit ( void )

kills current task

Returns: 0 on success, 1 otherwise

int MTGetUID ( TASK t )

gets the ID of the taks

Parameters

TASK	t the task to search for ID

Returns: 0 on success, 1 otherwise

int MTInit ( void )

initialises the threads

Returns: 0 always

int MTKill ( TASK t )

kills the task t

Parameters

TASK	t the task to kill

Returns: 0 on success, 1 otherwise

int MTSleep ( int n )

sleeps for 10ms ie n/100s

Parameters

n	the number of periods waited

Returns: 0 always

TASK MTSpawn	(	void ()(void *)	fct,
		int	id
	)

Create and initialize thread with given ID.

Parameters

fct	the function to spawn
if	td the id of the function

Returns: the task item

TIMER OSAttachTimer	(	int	scale,
		void(*)(void)	fct
	)

adds a function to a 1kHz/scale timer, ie. executes every 1ms*scale usage: OSAttachTimer(<scale>, &<function>);

Parameters

scale	the rate to run the function
fct	the function to run, note must return void and have no arguments

Returns: the Timer struct for the timer

int OSDetachTimer ( TIMER t )

removes the Timer from the list

Parameters

handle the timer to remove

Returns: 0 always

char* OSExecute ( char * command )

Executes a system command and obtains the string returned after the command.

Parameters

command the command to run

Returns: the string returned after execution

int OSGetCount ( void )

gives you the count in 1/100 sec since the system start

Returns: the count

int OSGetTime	(	int *	hrs,
		int *	mins,
		int *	secs,
		int *	ticks
	)

Get system time (ticks in 1/100 sec)

Parameters

hrs	the pointer to the hours integer
mins	the pointer to the mins integer
secs	the pointer to the secs integer
ticks	the pointer to the ticks integer

Returns: 0 always

int OSMachineID ( void )

Inform the user with which ID the Eyebot is titled.

Returns: the ID of actual Eyebot

int OSMachineName ( char * buf )

Inform the user with which name the Eyebot is titled.

Returns: the Name of actual Eyebot

int OSMachineSpeed ( void )

Inform the user how fast the processor runs.

Returns: the actual clockrate of CPU in Hz

int OSMachineType ( void )

Inform the user in which environment the program runs.

Returns: the Type of used hardware

Valid values are: VEHICLE, PLATFORM, WALKER

int OSSetTime	(	int	hrs,
		int	mins,
		int	secs
	)

sets the system time

Parameters

hrs	the hours
mins	the mins
secs	the secs

Returns: 0 always

int OSVersion ( char * buf )

Returns string containing running RoBIOS version.

Returns: the RoBIOS version

int OSVersionIO ( char * buf )

Gives the version of the IO board.

Parameters

version,the string to store the version string

Returns: 0 on success, 1 on failure

int OSWait ( int n )

Waits for 1 ms.

Parameters

n	the number of ms to wait for

Returns: 0 always

int PSDGet ( int psd )

Delivers actual timestamp or distance measured by the selected PSD.

Parameters

psd	the number of the psd to read

Returns: the actual distance in mm (converted through internal table in hdt.txt)

int PSDGetRaw ( int psd )

Delivers raw-data measured by the selected PSD.

Parameters

psd	the psd to read [1..6]

Returns: the raw value

int RADIOCheck ( int * id_no )

Non-blocking check whether message is waiting.

Parameters

id_no the id number of the eyebot to check

Returns: 0 always

int RADIOGetID ( void )

Get own radio ID.

Returns: 0 always

int RADIOInit ( void )

Starts radio communication between the Eyebots.

Returns: 0 always

int RADIOReceive	(	int *	id_no,
		BYTE *	buf,
		int *	size
	)

Read num. of bytes from ID source.

Parameters

id_no	the id number of the eyebot
buf	the bytes to receive
size	the size of the buffer to receive

Returns: 0 always

int RADIORelease ( void )

Terminate radio communication.

Returns: 0 always

int RADIOSend	(	int	id_no,
		BYTE *	buf,
		int	size
	)

Send spec. number of bytes to ID destination.

Parameters

id_no	the id number of the eyebot
buf	the bytes to send
size	the size of the buffer to send

Returns: 0 always

int RADIOStatus ( int IDlist[] )

Returns number of robots (incl. self) and list of IDs in network.

Parameters

IDList[] the list of robots and ids

Returns: 0 always

int SEMAInit	(	SEMA *	sem,
		int	val
	)

initialises the semaphores

Parameters

SEMA	sem the semaphore
val	the value to set it at

Returns: 0 on success, 1 otherwise

int SEMALock ( SEMA * sem )

locks the given semaphoe

Parameters

SEMA	sem the semaphore to lock

Returns: 0 on success, 1 otherwise

int SEMAUnlock ( SEMA * sem )

unlocks the given semaphore

Parameters

SEMA	sem the semaphore to unlock

Returns: 0 on success, 1 otherwise

bool SERCheck ( int interface )

checks and flushes the port by sending enter until seeing prompt

Parameters

interface the inteface type

Returns: 0 on success, 1 otherwise

int SERClose ( int interface )

closes the port

Parameters

interface the inteface type

Returns: 0 on success, 1 otherwise

int SERFlush ( int interface )

flushes the port

Parameters

interface the inteface type

Returns: 0 on success, 1 otherwise

int SERInit	(	int	interface,
		int	baud,
		int	handshake
	)

Initialises the port.

Parameters

interface	the inteface type
baud	the baud rate
handshake	the handshake type

Returns: 0 on success, 1 otherwise

int SERReceive	(	int	interface,
		char *	buf
	)

Receives a string from port handle.

Parameters

interface	the inteface type
buf	the string to store the received bytes
size	the length of the string to receive

Returns: n the length of the received string

char SERReceiveChar ( int interface )

Receives a single character from the given port handle.

Parameters

interface the inteface type

Returns: the character received

int SERSend	(	int	interface,
		char *	buf
	)

Sends a string to the given port handle.

Parameters

interface	the inteface type
buf	the string to send
size	the length of the string to send

Returns: 0 on success, 1 otherwise

int SERSendChar	(	int	interface,
		char	ch
	)

Sends a single character to the given port handle.

Parameters

interface	the inteface type
ch	the character to send

Returns: 0 on success, 1 otherwise

int SERVORange	(	int	servo,
		int	low,
		int	high
	)

Sets the range for the servos.

Parameters

servo	the servo to set [1..14] limits in 1/100 sec
low	the lower limit
high	the upper limit

Returns: 0 on success, 1 otherwise

int SERVOSet	(	int	servo,
		int	angle
	)

Set the given servos to the same given angle depending on table value.

Parameters

servo	the servo number [1..14]
angle	the angle to set it to [1..255]

Returns: 0 on success, 1 on failure

int SERVOSetRaw	(	int	servo,
		int	angle
	)

Set the given servos to the same given angle in raw mode.

Parameters

servo	the servo to set [1..14]
int	angle : valid values = 0-255

Returns: 0 on success, 1 otherwise

int VWControl	(	int	Vv,
		int	Tv,
		int	Vw,
		int	Tw
	)

Set PI params. for v and w (typical 70 30 70 10)

Parameters

Vv
Tv
Vw
Vw

Returns: 0 on success, 1 othewrise

int VWControlOff ( void )

Stop PI control for v and w.

Returns: 0 on success, 1 othewrise

int VWCurve	(	int	dist,
		int	angle,
		int	lin_speed
	)

Turns the vehicle in a curve.

Parameters

dist	the radial distance [mm]
angle	the angle to rotate in Radians * 100 (eg. 314 = half circle)
lin_speed	the speed to rotate [mm/s]

Returns: 0 on success, 1 othewrise

int VWDrive	(	int	dx,
		int	dy,
		int	lin_speed
	)

Turns the vehicle in a curve: x[mm] straight and y[mm] left, x>|y|.

Parameters

dx	the distance in front of the vehicle to drive (in mm)
dy	the distance perpendicular to the direction of travel (in mm)
lin_speed	the speed to rotate

Returns: 0 on success, 1 othewrise

int VWDriveDone ( void )

Checks to see if the current drive is complete.

Returns: 1 on completion, 0 for still driving, -1 on failure

int VWDriveRemain ( void )

Checks the remaining drive time.

Returns: the remaining time

int VWDriveWait ( void )

Blocks until the drive is complete.

Returns: 0 on success, 1 othewrise

int VWGetPosition	(	int *	x,
		int *	y,
		int *	phi
	)

Gets the position wrt original position.

Parameters

x	stores the horizontal component (mm)
y	stores the vertical component (mm)
phi	stores the turn angle (rad*100)

Returns: 0 on success, 1 othewrise

int VWGetSpeed	(	int *	linSspeed,
		int *	angSpeed
	)

Obtains the current speeds.

Parameters

linspeed	the integer to store the linear speed (mm/s)
angSpeed	the integer to store the angular speed (100 * rad/s)

Returns: 0 on success, 1 othewrise

int VWSetPosition	(	int	x,
		int	y,
		int	phi
	)

Sets the position wrt current position.

Parameters

x	the horizontal component (mm)
y	the vertical component (mm)
phi	the turn angle (rad*100)

Returns: 0 on success, 1 othewrise

int VWSetSpeed	(	int	linSpeed,
		int	angSpeed
	)

Sets the VW speed, angle.

Parameters

linSpeed	the straightline speed (mm/s)
angSpeed	the angular turning speed (100 * rad/s)

Returns: 0 on success, 1 othewrise

int VWStalled ( void )

Checks to see if the vehicle is stalled.

Returns: 0 on stalled, 1 othewrise

int VWStraight	(	int	dist,
		int	lin_speed
	)

Drives straight.

Parameters

dist	the distance to travel [mm]
lin_speed	the speed to travel at [[mm/s]

Returns: 0 on success, 1 otherwise

int VWTurn	(	int	angle,
		int	ang_speed
	)

Turns the vehicle on the spot.

Parameters

angle	the angle to turn to in Radians*100 (eg. 314 = Rotation Half Circle)
ang_speed	the speed to turn the angle [(rads/100)/s]

Returns: 0 on success, 1 otherwise

Functions

Detailed Description

Function Documentation