Functions which handle the Laus-Tracker. More...

Modules
	Advanced informations

Enumerations
enum	eLausTrackerOrientation
	clusters the orientation More...

enum	eLausTrackerSelectMask
	clusters bit masks for the requests of the Laus-Tracker More...

enum	eLausTrackerGet
	clusters select values for reading data from the Laus-Tracker More...

Request Funktions
void	lausTracker_request (eLausTrackerSelectMask bitmask, eRequestType request)
	Requests new data from the Laus-Tracker. More...

eLausTrackerSelectMask	lausTracker_received (eLausTrackerSelectMask bitmask)
	Indicates if new data for the selected data blocks were received. More...

eLausTrackerSelectMask	lausTracker_changed (eLausTrackerSelectMask bitmask)
	Indicates if new data changed the selected data blocks. More...

Access Funktions
uint8_t	lausTracker_get (eLausTrackerGet select)
	Returns the last stored version of the selected value. More...

Detailed Description

Functions which handle the Laus-Tracker.

The Laus-Tracker system is explained within related pages:
Laustracker (German)

For sending and receiving data on the PC, there exists a ROS module. However, a simplified Python counterpart to the TUC-Bot example is given here - it can be used to test the connection to the robot:
lausTracker.py and packedCom.py

example

/*******************************************************************************
* examples/lausTracker.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>
#include <tucbot_additionals/packedCom.h>
#include <tucbot_additionals/lausTracker.h>
 
//*********************************<Methods>************************************
void testLausTracker(void);
int main(void);
 
//*********************************[testLausTracker]****************************
void testLausTracker(void) {
 
    uint8_t menu_pos = 0;
    uint8_t flag_redraw_menu = 0xFF;
    uint8_t value_count = 0;
 
    uint8_t temp;
 
    lcdclr();
    lcdstr_p(PSTR("lausTracker  ###"));
 
    packedCom_activate();
    lausTracker_request(kLausTrackerSelectAll, kRequestContinuous);
 
    while (1) {
        // redraw menu
        if (flag_redraw_menu) {
            flag_redraw_menu = 0x00;
 
            lcdxy(0,1);
            if (menu_pos == 0) {
                lcdstr_p(PSTR("self  @(#,#,#)"  ));
            } else {
                lcdstr_p(PSTR("rival @(#,#)  "    ));
            }
            mdelay(400);
        }
 
        // check if buttons were pushed
        if (buttons_get(kButtonMiddle)) {
            // middle button --> toggle menu
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            if (menu_pos == 0) {
                menu_pos = 1;
            } else {
                menu_pos = 0;
            }
            flag_redraw_menu = 0xFF;
        }
 
        // update display (general)
        temp = packedCom_get(kPackedComGetPacketCount);
        if (temp != value_count) {
            value_count = temp;
            lcdxy(13,0); uint16tostr(lcdout,temp,3);
        }
 
        // update display depending on menu position
        if (menu_pos == 0) {
            if (lausTracker_changed(kLausTrackerSelectSelf)) {
                lcdxy( 8,1);
                lcdout(lausTracker_get(kLausTrackerGetSelfX) + '0');
                lcdxy(10,1);
                lcdout(lausTracker_get(kLausTrackerGetSelfY) + '0');
 
                lcdxy(12,1);
                switch (lausTracker_get(kLausTrackerGetSelfOrientation)) {
                    case kLausTrackerOrientationEast :
                        lcdout('E');
                        break;
 
                    case kLausTrackerOrientationSouth:
                        lcdout('S');
                        break;
                        
                    case kLausTrackerOrientationWest :
                        lcdout('W');
                        break;
                        
                    case kLausTrackerOrientationNorth:
                        lcdout('N');
                        break;
                }
            }
 
        } else {                
            if (lausTracker_changed(kLausTrackerSelectRival)) {
                lcdxy( 8,1);
                lcdout(lausTracker_get(kLausTrackerGetRivalX) + '0');
                lcdxy(10,1);
                lcdout(lausTracker_get(kLausTrackerGetRivalY) + '0');
            }
        }
 
        mdelay(100);
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testLausTracker();
 
    return (0);
}

Enumeration Type Documentation

◆ eLausTrackerGet

enum eLausTrackerGet

clusters select values for reading data from the Laus-Tracker

See also: lausTracker_get()

Enumerator
kLausTrackerGetSelfX	constant (1): x-coordinate of one self's robot (0...7)
kLausTrackerGetSelfY	constant (2): y-coordinate of one self's robot (0...7)
kLausTrackerGetSelfOrientation	constant (3): orientation of one self's robot see also eLausTrackerOrientation
kLausTrackerGetRivalX	constant (4): x-coordinate of opponent's robot (0...7)
kLausTrackerGetRivalY	constant (5): y-coordinate of opponent's robot (0...7)

◆ eLausTrackerOrientation

enum eLausTrackerOrientation

clusters the orientation

See also: lausTracker_get()

Enumerator
kLausTrackerOrientationSouth	constant (0): heading south (negative y-direction)
kLausTrackerOrientationNorth	constant (1): heading north (positive y-direction)
kLausTrackerOrientationEast	constant (2): heading east (positive x-direction)
kLausTrackerOrientationWest	constant (3): heading west (negative x-direction)

◆ eLausTrackerSelectMask

enum eLausTrackerSelectMask

clusters bit masks for the requests of the Laus-Tracker

See also: lausTracker_request(), lausTracker_received() and lausTracker_changed()

Enumerator
kLausTrackerSelectNone	bit mask (0x00): select no data block
kLausTrackerSelectSelf	bit mask (0x01): select one self's robot see also sLausTrackerSelf
kLausTrackerSelectRival	bit mask (0x02): select opponent's robot see also sLausTrackerRival
kLausTrackerSelectAll	bit mask (0x03): select all data blocks

Function Documentation

◆ lausTracker_changed()

eLausTrackerSelectMask lausTracker_changed ( eLausTrackerSelectMask bitmask )

Indicates if new data changed the selected data blocks.

Parameters

bitmask bit mask of the selected data blocks - see also eLausTrackerSelectMask
The parameter is used to only return the value of the masked changed-bits. All other values(bits) are set to 0.

Returns: bitfield of the selected data blocks - see also eLausTrackerSelectMask
If a data block is changed its related bit will be 1, otherwise 0.
If only one data block is selected the return value can be interpreted as a boolean expression.

See also: lausTracker_received(), lausTracker_request() and lausTracker_get()

Examples: lausTracker.c.

◆ lausTracker_get()

uint8_t lausTracker_get ( eLausTrackerGet select )

Returns the last stored version of the selected value.

This function relies on the internal data blocks sLausTrackerSelf and sLausTrackerRival - for new data use lausTracker_request().

Parameters

select value of the selected data - see also eLausTrackerGet

Returns

8-bit unsigned integer

select	description
kLausTrackerGetSelfX kLausTrackerGetSelfY	one self's robot position
kLausTrackerGetSelfOrientation	ones self's robot orientation
kLausTrackerGetSelfX kLausTrackerGetSelfY	opponent's robot position

See also: lausTracker_request()

Examples: lausTracker.c.

◆ lausTracker_received()

eLausTrackerSelectMask lausTracker_received ( eLausTrackerSelectMask bitmask )

Indicates if new data for the selected data blocks were received.

Parameters

bitmask bit mask of the selected data blocks - see also eLausTrackerSelectMask
The parameter is used to only return the value of the masked received-bits. All other values(bits) are set to 0.

Returns: bitfield of the selected data blocks - see also eLausTrackerSelectMask
If a data block is received its related bit will be 1, otherwise 0.
If only one data block is selected the return value can be interpreted as a boolean expression.