Functions which handle the bumper sensors. More...

Modules
	Advanced informations

Enumerations
enum	eBumperMask
	clusters bit masks for reading the bumpers More...

Request Funktions
void	bumpers_request (eRequestType request)
	Requests new data from the bumpers. More...

uint8_t	bumpers_received (void)
	Indicates if new data for the data block sMD_Bumper was received. More...

uint8_t	bumpers_changed (void)
	Indicates if new data changed the data block sMD_Bumper. More...

Access Funktions
eBumperMask	bumpers_get (eBumperMask bitmask)
	Returns the last stored value of the masked bumpers. More...

Detailed Description

Functions which handle the bumper sensors.

example

/*******************************************************************************
* examples/bumper.c                                                            *
* =================                                                            *
*                                                                              *
* Version: 1.0.6                                                               *
* Date   : 06.12.17                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testBumper(void);
int main(void);
 
//*********************************[testBumper]*********************************
void testBumper(void) {
 
    uint8_t bumpers;
 
    lcdclr();
    lcdstr_p(PSTR("Bumper"          ));
    lcdxy(0,1);
    lcdstr_p(PSTR("F: # #  B: # #  "));
 
    bumpers_request(kRequestContinuous);
 
    while (1) {
        if (bumpers_changed()) {
            bumpers = bumpers_get(kBumperAll);
 
            lcdxy( 3,1);
            if (bumpers & kBumperFrontLeft ) {lcdout('L'); }
            else {lcdout(' ');}
 
            lcdxy( 5,1);
            if (bumpers & kBumperFrontRight) {lcdout('R'); }
            else {lcdout(' ');}
 
            lcdxy(11,1);
            if (bumpers & kBumperBackLeft  ) {lcdout('L'); }
            else {lcdout(' ');}
 
            lcdxy(13,1);
            if (bumpers & kBumperBackRight ) {lcdout('R'); }
            else {lcdout(' ');}
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    testBumper();
 
    return (0);
}

Enumeration Type Documentation

◆ eBumperMask

enum eBumperMask

clusters bit masks for reading the bumpers

This enum is used for masking the bumpers in bumpers_get() and for storing that functions' result as a bitfield.

Enumerator
kBumperNone	bit mask (0x00): no bumper
kBumperFrontLeft	bit mask (0x01): the front left bumper
kBumperFrontRight	bit mask (0x02): the front right bumper
kBumperBackLeft	bit mask (0x04): the back left bumper
kBumperBackRight	bit mask (0x08): the back right bumper
kBumperAll	bit mask (0x0F): all bumpers

Function Documentation

◆ bumpers_changed()

uint8_t bumpers_changed ( void )

Indicates if new data changed the data block sMD_Bumper.

The return value is boolean.

Returns: 8-bit unsigned integer which is a boolean value

See also: bumpers_received(), bumpers_request() and bumpers_get()

Examples: bumper.c.

◆ bumpers_get()

eBumperMask bumpers_get ( eBumperMask bitmask )

Returns the last stored value of the masked bumpers.

This function relies on the internal data block sMD_Bumper - for new data use bumpers_request().

Parameters

bitmask bit mask of the selected bumpers - see also eBumperMask
The parameter is used to only return the state of the masked bumpers. All other states(bits) are set to 0.

Returns: bitfield of the pushed bumpers - see also eBumperMask
If a bumper is pushed its related bit will be 1, otherwise 0.
If only one bumper is selected the return value can be interpreted as a boolean expression.