Elisa3
irCommunication.h
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00001 
00002 #ifndef IR_COMMUNICATION_H
00003 #define IR_COMMUNICATION_H
00004 
00005 
00039 #include "variables.h"
00040 #include "utility.h"
00041 
00042 #ifdef __cplusplus
00043 extern "C" {
00044 #endif
00045 
00050 void irCommInit();
00051 
00056 void irCommInitReceiver();
00057 
00062 void irCommInitTransmitter();
00063 
00068 void irCommDeinit();
00069 
00074 void irCommTasks();
00075 
00077 // * \brief Set the data to be sent through IR; the obstacle avoidance and cliff avoidance will be disabled during the transmission.
00078 // * \param value: byte to be sent; sensor: sensor id mask (bit 0 corresponds to sensor 0 in front of robot, id increases clockwise).
00079 // * \return none
00080 // */
00081 //void irCommSendData(unsigned char value, unsigned char sensorMask);
00082 
00088 void irCommSendData(unsigned char value);
00089 
00094 unsigned char irCommDataSent();
00095 
00100 unsigned char irCommDataAvailable();
00101 
00106 unsigned char irCommReadData();
00107 
00112 signed char irCommReceivingSensor();
00113 
00118 signed int getBearing(unsigned char sensor);
00119 
00120 #ifdef __cplusplus
00121 } // extern "C"
00122 #endif
00123 
00124 #endif
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