Utilities.h File Reference

utilities header More...

Go to the source code of this file.

Classes
struct	control_data_t

Macros
#define	DECIMATION   10
#define	REFERENCE_DATA   10000
#define	BUFLEN   10000

Enumerations
enum	mode {   IDLE, PWM, HOLD, TRACK,   ITRACK, ITEST, ISENSE, ICALIB }

Functions
void	setNclient (int n)
	Recieve number of values to store in position data arrays from client. More...
int	boundInt (int a, int n)
	Bounds a given input to a range of values. More...
int	maxInt (int a, int b)
	returns the large value of the two More...
mode	getMODE ()
	Return the Mode of the robot. More...
void	setMODE (mode newMODE)
	Sets the Mode of the robot. More...
void	setN (void)
	Receive number N of samples to save into data buffer. More...
int	getN (void)
	Returns the number of samples. More...
void	write_refPos (int position, int index, int motor)
	Writes the reference position. More...
int	get_refPos (int index, int motor)
	Gets the reference position. More...
int	buffer_empty (void)
	Returns true if the buffer is empty. More...
int	buffer_full (void)
	Returns true if the buffer is full. More...
int	buffer_read_position (int motor)
	Reads position from the current buffer location. More...
int	buffer_read_u (int motor)
	Reads current value from current buffer location. More...
void	buffer_read_increment (void)
	Increments the buffer read index. More...
void	buffer_write (int M1_actPos, int M2_actPos, int M1_u, int M2_u)
	Write data to buffer. More...
void	send_data (void)
	Send data to client when it becomes available. More...

Detailed Description

utilities header

This file contains the communication buffer and mode functions

Author

Benjamen Lim

Huan Weng

Blake Strebel

Enumeration Type Documentation

mode

enum mode

Data structure containing the modes of the system

Enumerator
IDLE	Sets motor effort to 0
PWM	PWM directly set by user
HOLD	Sets motor effort to holding position
TRACK	Sets motor effort to tracking mode
ITRACK	Track reference current
ITEST	Test current control
ISENSE	Read current for N samples
ICALIB	Calibrate current sensing offsets

Function Documentation

boundInt()

int boundInt	(	int	a,
		int	n
	)

Bounds a given input to a range of values.

Parameters

int	a the input value
int	n the range of the bounds

Returns

int the bounded output

buffer_empty()

int buffer_empty

(

void

)

Returns true if the buffer is empty.

READ == WRITE

Parameters

Void

Returns

int true if buffer is empty

buffer_full()

int buffer_full

(

void

)

Returns true if the buffer is full.

(WRITE + 1) % BUFLEN == READ

Parameters

Void

Returns

int true if buffer is full

buffer_read_increment()

void buffer_read_increment

(

void

)

Increments the buffer read index.

Parameters

Void

Returns

Void

buffer_read_position()

int buffer_read_position

(

int

motor

)

Reads position from the current buffer location.

This function assumes that buffer is not empty

Parameters

int	motor the motor that is read from

Returns

int position of the current buffer location

buffer_read_u()

int buffer_read_u

(

int

motor

)

Reads current value from current buffer location.

This function assumes that buffer is not empty

Parameters

int	motor motor that is read from

Returns

int current value in buffer

buffer_write()

void buffer_write	(	int	M1_actPos,
		int	M2_actPos,
		int	M1_u,
		int	M2_u
	)

Write data to buffer.

Parameters

int	M1_actPos motor 1 position
int	M2_actPos motor 2 position
int	M1_u motor 1 effort
int	M1_u motor 2 effort

Returns

Void

get_refPos()

int get_refPos	(	int	index,
		int	motor
	)

Gets the reference position.

Parameters

int	index
int	motor

Returns

int returns the reference position

getMODE()

mode getMODE

(

)

Return the Mode of the robot.

Parameters

mode	operating mode of the robot

Returns

Void

getN()

int getN

(

void

)

Returns the number of samples.

Parameters

Void

Returns

int the number of samples

maxInt()

int maxInt	(	int	a,
		int	b
	)

returns the large value of the two

Parameters

int	a one input value
int	b the other input value

Returns

int the larger value

send_data()

void send_data

(

void

)

Send data to client when it becomes available.

Parameters

Void

Returns

Void

setMODE()

void setMODE

(

mode

newMODE

)

Sets the Mode of the robot.

The avaliable modes are IDLE, HOLD, TRACK, PWM, ISENSE, ITEST, ITRACK, ICALIB

Parameters

mode	operating mode of the robot

Returns

Void

setN()

void setN

(

void

)

Receive number N of samples to save into data buffer.

Parameters

Void

Returns

Void

setNclient()

void setNclient

(

int

n

)

Recieve number of values to store in position data arrays from client.

Parameters

Void

Returns

Void

write_refPos()

void write_refPos	(	int	position,
		int	index,
		int	motor
	)

Writes the reference position.

Parameters

int	position
int	index
int	motor

Returns

Void