elisa3-lib.c File Reference

#include "elisa3-lib.h"

Defines
#define	FRONT_IR_ON(x)   ((x) |= (1 << 1))
#define	BACK_IR_ON(x)   ((x) |= (1 << 0))
#define	ALL_IR_ON(x)   ((x) |= (1<<0) | (1 << 1))
#define	TV_REMOTE_ON(x)   ((x) |= (1<<2))
#define	SLEEP_ON(x)   ((x) = 0x08)
#define	CALIBRATION_ON(x)   ((x) |= (1<<4))
#define	OBSTACLE_AVOID_ON(x)   ((x) |= (1<<6))
#define	CLIFF_AVOID_ON(x)   ((x) |= (1<<7))
#define	FRONT_IR_OFF(x)   ((x) &= ~(1 << 1))
#define	BACK_IR_OFF(x)   ((x) &= ~(1 << 0))
#define	ALL_IR_OFF(x)   ((x) &= ~(1 << 0) & ~(1 << 1))
#define	TV_REMOTE_OFF(x)   ((x) &= ~(1 << 2))
#define	SLEEP_OFF(x)   ((x) &= ~(1 << 3))
#define	CALIBRATION_OFF(x)   ((x) &= ~(1 << 4))
#define	OBSTACLE_AVOID_OFF(x)   ((x) &= ~(1 << 6))
#define	CLIFF_AVOID_OFF(x)   ((x) &= ~(1 << 7))
#define	RAD_2_DEG   57.2957796
#define	NUM_ROBOTS   4
#define	PAYLOAD_SIZE   13
#define	ADDR_SIZE   2
#define	ROBOT_PACKET_SIZE   (PAYLOAD_SIZE+ADDR_SIZE)
#define	PACKETS_SIZE   64
#define	OVERHEAD_SIZE   (2*NUM_ROBOTS+1)
#define	UNUSED_BYTES   3
Functions
char	speed (char value)
int	computeVerticalAngle (signed int x, signed int y)
int	getIdFromAddress (int address)
void	startCommunication (int *robotAddr, int numRobots)
	To be called once at the beginning, it init the USB communication with the RF module that is responsible to send data to the robots and initialize the list of robots to be controlled; max number of simultaneous robots is 100.
void	stopCommunication ()
	To be called once at the end, it closes the USB communication.
void	setMutexTx ()
void	freeMutexTx ()
void	setMutexRx ()
void	freeMutexRx ()
void	setMutexThread ()
void	freeMutexThread ()
unsigned char	checkConcurrency (int id)
void	setLeftSpeed (int robotAddr, char value)
	Set the left speed of the robot.
void	setRightSpeed (int robotAddr, char value)
	Set the right speed of the robot.
void	setLeftSpeedForAll (char *value)
	Set the left speed of all the robots specified in the list.
void	setRightSpeedForAll (char *value)
	Set the right speed of all the robots specified in the list.
void	setRed (int robotAddr, unsigned char value)
	Set the red intensity of the RGB led on the robot.
void	setGreen (int robotAddr, unsigned char value)
	Set the green intensity of the RGB led on the robot.
void	setBlue (int robotAddr, unsigned char value)
	Set the blue intensity of the RGB led on the robot.
void	setRedForAll (unsigned char *value)
	Set the red intensity of the RGB led of all the robots specified in the list.
void	setGreenForAll (unsigned char *value)
	Set the green intensity of the RGB led of all the robots specified in the list.
void	setBlueForAll (unsigned char *value)
	Set the blue intensity of the RGB led of all all the robots specified in the list.
void	turnOnFrontIRs (int robotAddr)
	Turn on both the front IRs transmitter on the robot.
void	turnOffFrontIRs (int robotAddr)
	Turn off both the front IRs transmitter on the robot.
void	turnOnBackIR (int robotAddr)
	Turn on the back IR transmitter on the robot.
void	turnOffBackIR (int robotAddr)
	Turn off the back IR transmitter on the robot.
void	turnOnAllIRs (int robotAddr)
	Turn on all the 3 IRs transmitter on the robot.
void	turnOffAllIRs (int robotAddr)
	Turn off all the 3 IRs transmitter on the robot.
void	enableTVRemote (int robotAddr)
	Enable the reception of commands from a TV remote.
void	disableTVRemote (int robotAddr)
	Disable the reception of commands from a TV remote.
void	enableSleep (int robotAddr)
	Put the robot in sleep mode (energy saving mode).
void	disableSleep (int robotAddr)
	Put the robot in normal mode (out of sleep).
void	enableObstacleAvoidance (int robotAddr)
	Enable the onboard obstacle avoidance.
void	disableObstacleAvoidance (int robotAddr)
	Disable the onboard obstacle avoidance.
void	enableCliffAvoidance (int robotAddr)
	Enable the onboard cliff avoidance.
void	disableCliffAvoidance (int robotAddr)
	Disable the onboard cliff avoidance.
void	resetRobotData (int robotIndex)
void	setRobotAddress (int robotIndex, int robotAddr)
	Set the address of a robot related to a particular index, the index must be in the range of the robot list size.
void	setRobotAddresses (int *robotAddr, int numRobots)
	Set the addresses of the robots that need to be controlled; max number of simultaneous robots is 100.
unsigned int	getProximity (int robotAddr, int proxId)
	Request one of the proximity sensors value of the robot.
unsigned int	getProximityAmbient (int robotAddr, int proxId)
	Request one of the ambient value (from proximity sensors) of the robot.
unsigned int	getGround (int robotAddr, int groundId)
	Request one of the ground sensors value of the robot.
unsigned int	getGroundAmbient (int robotAddr, int groundId)
	Request one of the ambient value (from ground sensors) of the robot.
void	getAllProximity (int robotAddr, unsigned int *proxArr)
	Request all the proximity sensors values at once.
void	getAllProximityAmbient (int robotAddr, unsigned int *proxArr)
	Request all the ambient values (from proximity sensors) at once.
void	getAllGround (int robotAddr, unsigned int *groundArr)
	Request all the ground sensors values at once.
void	getAllGroundAmbient (int robotAddr, unsigned int *groundArr)
	Request all the ambient values (from ground sensors) at once.
void	getAllProximityFromAll (unsigned int proxArr[][8])
	Request all the proximity sensors values of all the robots specified in the list.
void	getAllProximityAmbientFromAll (unsigned int proxArr[][8])
	Request all the ambient values (from proximity sensors) of all the robots specified in the list.
void	getAllGroundFromAll (unsigned int groundArr[][4])
	Request all the ground sensors values of all the robots specified in the list.
void	getAllGroundAmbientFromAll (unsigned int groundArr[][4])
	Request all the ambient values (from ground sensors) of all the robots specified in the list.
unsigned int	getBatteryAdc (int robotAddr)
	Request the raw battery value, it contains the sampled value of the battery.
unsigned int	getBatteryPercent (int robotAddr)
	Request the charge percentage of the battery.
signed int	getAccX (int robotAddr)
	Request the raw value of the accelerometer x axis.
signed int	getAccY (int robotAddr)
	Request the raw value of the accelerometer y axis.
signed int	getAccZ (int robotAddr)
	Request the raw value of the accelerometer z axis.
unsigned char	getSelector (int robotAddr)
	Request the selector position.
unsigned char	getTVRemoteCommand (int robotAddr)
	Request last command received from the TV remote.
signed int	getOdomTheta (int robotAddr)
	Request the current orientation of the robot computed from the measured speed of the motors.
signed int	getOdomXpos (int robotAddr)
	Request the current position (x component) of the robot computed from the measured speed of the motors.
signed int	getOdomYpos (int robotAddr)
	Request the current position (y component) of the robot computed from the measured speed of the motors.
void	setSmallLed (int robotAddr, int ledId, int state)
	Set a new stato (on or off) for the small green leds around the robot.
void	turnOffSmallLeds (int robotAddr)
	Turn off all the small green leds around the robot.
void	turnOnSmallLeds (int robotAddr)
	Turn on all the small green leds around the robot.
int	getVerticalAngle (int robotAddr)
	Request the current orientation of the robot given by the accelerometer. This function is usable only if the robot is moving vertically.
void	calibrateSensors (int robotAddr)
	Calibrate the sensors of the robot (proximity, accelerometer).
void	calibrateSensorsForAll ()
	Calibrate the sensors (proximity, accelerometer) of all the robots specified in the list.
void	startOdometryCalibration (int robotAddr)
	Start the odometry calibration.
unsigned char	robotIsCharging (int robotAddr)
	Tell whether the robot is charging or not.
unsigned char	robotIsCharged (int robotAddr)
	Tell whether the robot is completely charged or not.
unsigned char	buttonIsPressed (int robotAddr)
	Tell whether the button on the back side of the robot is pressed or not.
void	resetFlagTX (int robotAddr)
	Reset all the flags sent to the robot.
unsigned char	getFlagTX (int robotAddr, int flagInd)
	Request the current flags value (raw) sent to the robot.
unsigned char	getFlagRX (int robotAddr)
	Request the current flags value (raw) received from the robot.
signed long int	getLeftMotSteps (int robotAddr)
	Request the current raw value of the left motor steps (sum of the measured speed).
signed long int	getRightMotSteps (int robotAddr)
	Request the current raw value of the right motor steps (sum of the measured speed).
void	resetMessageIsSentFlag (int robotAddr)
	Reset the flag indicating that the last modified packet is sent to the robot; it should be called before using "messageIsSent".
unsigned char	messageIsSent (int robotAddr)
	Request if the last modified packet is sent to the robot; this function is thought to be used in polling mode (continue to check whether the message is sent untill it is actually sent). Before the polling the function "resetMessageIsSentFlag" need to be called. It can be used for both check whether the robots received the new messages and to know when new data from the robots are available.
double	getRFQuality (int robotAddr)
	Request the current percentage of failed trasnfers in the last 5 seconds.
void	stopTransferData ()
	This function stop the transmission of the packets to the robots.
void	resumeTransferData ()
	This function resume the transmission of the packets to the robots.
void	setCompletePacket (int robotAddr, char red, char green, char blue, char flags[2], char left, char right, char leds)
	Set all the values of a robot at one time.
void	setCompletePacketForAll (int *robotAddr, char *red, char *green, char *blue, char flags[][2], char *left, char *right, char *leds)
	Set all the values of all the robots specified in the list.
unsigned char	sendMessageToRobot (int robotAddr, char red, char green, char blue, char flags[2], char left, char right, char leds, unsigned long us)
	Send a message to a particular robot resetting the list of robots to a single one (all previous address set with "startCommunication" will be lost).
unsigned char	waitForUpdate (int robotAddr, unsigned long us)
	Wait for updated data coming from the robot; if the robot isn't reachable (out of range, discharged, ...) then the function will exit after the amount of time specified as parameter even if no data are received. this function can be used also to check whether a message is successfully sent to a robot or not.
void	transferData ()
	This function need to be called periodically (as fast as possible) in order to exchange data with the robots.
Variables
int	robotAddress [100]
char	leftSpeed [100]
char	rightSpeed [100]
char	redLed [100]
char	greenLed [100]
char	blueLed [100]
unsigned int	proxValue [100][8]
unsigned int	proxAmbientValue [100][8]
unsigned int	groundValue [100][4]
unsigned int	groundAmbientValue [100][4]
unsigned int	batteryAdc [100]
unsigned int	batteryPercent [100]
signed int	accX [100]
signed int	accY [100]
signed int	accZ [100]
unsigned char	selector [100]
unsigned char	tvRemote [100]
unsigned char	flagsRX [100]
unsigned char	flagsTX [100][2]
unsigned char	smallLeds [100]
signed long int	leftMotSteps [100]
signed long int	rightMotSteps [100]
signed int	robTheta [100]
signed int	robXPos [100]
signed int	robYPos [100]
unsigned char	sleepEnabledFlag [100]
char	RX_buffer [64] = {0}
char	TX_buffer [64] = {0}
double	numOfErrors [100]
double	numOfPackets = 0
double	errorPercentage [100]
unsigned char	lastMessageSentFlag [100]
unsigned char	calibrationSent [100]
unsigned char	calibrateOdomSent [100]
unsigned char	stopTransmissionFlag = 0
unsigned int	currNumRobots = 0
unsigned int	currPacketId = 0
unsigned char	usbCommOpenedFlag = 0

---

Define Documentation

#define ADDR_SIZE   2

#define ALL_IR_OFF

(

x

)

((x) &= ~(1 << 0) & ~(1 << 1))

#define ALL_IR_ON

(

x

)

((x) |= (1<<0) | (1 << 1))

#define BACK_IR_OFF

(

x

)

((x) &= ~(1 << 0))

#define BACK_IR_ON

(

x

)

((x) |= (1 << 0))

#define CALIBRATION_OFF

(

x

)

((x) &= ~(1 << 4))

#define CALIBRATION_ON

(

x

)

((x) |= (1<<4))

#define CLIFF_AVOID_OFF

(

x

)

((x) &= ~(1 << 7))

#define CLIFF_AVOID_ON

(

x

)

((x) |= (1<<7))

#define FRONT_IR_OFF

(

x

)

((x) &= ~(1 << 1))

#define FRONT_IR_ON

(

x

)

((x) |= (1 << 1))

#define NUM_ROBOTS   4

#define OBSTACLE_AVOID_OFF

(

x

)

((x) &= ~(1 << 6))

#define OBSTACLE_AVOID_ON

(

x

)

((x) |= (1<<6))

#define OVERHEAD_SIZE   (2*NUM_ROBOTS+1)

#define PACKETS_SIZE   64

#define PAYLOAD_SIZE   13

#define RAD_2_DEG   57.2957796

#define ROBOT_PACKET_SIZE   (PAYLOAD_SIZE+ADDR_SIZE)

#define SLEEP_OFF

(

x

)

((x) &= ~(1 << 3))

#define SLEEP_ON

(

x

)

((x) = 0x08)

#define TV_REMOTE_OFF

(

x

)

((x) &= ~(1 << 2))

#define TV_REMOTE_ON

(

x

)

((x) |= (1<<2))

#define UNUSED_BYTES   3

---

Function Documentation

unsigned char buttonIsPressed

(

int

robotAddr

)

Tell whether the button on the back side of the robot is pressed or not.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

0 not pressed, 1 button is pressed.

void calibrateSensors

(

int

robotAddr

)

Calibrate the sensors of the robot (proximity, accelerometer).

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void calibrateSensorsForAll

(

)

Calibrate the sensors (proximity, accelerometer) of all the robots specified in the list.

Returns:

none

unsigned char checkConcurrency

(

int

id

)

int computeVerticalAngle	(	signed int	x,
		signed int	y
	)

void disableCliffAvoidance

(

int

robotAddr

)

Disable the onboard cliff avoidance.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void disableObstacleAvoidance

(

int

robotAddr

)

Disable the onboard obstacle avoidance.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void disableSleep

(

int

robotAddr

)

Put the robot in normal mode (out of sleep).

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void disableTVRemote

(

int

robotAddr

)

Disable the reception of commands from a TV remote.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void enableCliffAvoidance

(

int

robotAddr

)

Enable the onboard cliff avoidance.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void enableObstacleAvoidance

(

int

robotAddr

)

Enable the onboard obstacle avoidance.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void enableSleep

(

int

robotAddr

)

Put the robot in sleep mode (energy saving mode).

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void enableTVRemote

(

int

robotAddr

)

Enable the reception of commands from a TV remote.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void freeMutexRx

(

)

void freeMutexThread

(

)

void freeMutexTx

(

)

signed int getAccX

(

int

robotAddr

)

Request the raw value of the accelerometer x axis.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current x value, the range is between -64 to 64.

signed int getAccY

(

int

robotAddr

)

Request the raw value of the accelerometer y axis.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current y value, the range is between -64 to 64.

signed int getAccZ

(

int

robotAddr

)

Request the raw value of the accelerometer z axis.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current z value, the range is between -64 to 64.

void getAllGround	(	int	robotAddr,
		unsigned int *	groundArr
	)

Request all the ground sensors values at once.

Parameters:

robotAddr	the address of the robot from which receive data.
groundArr	destination array for the ground values (size must be 4).

Returns:

none

void getAllGroundAmbient	(	int	robotAddr,
		unsigned int *	groundArr
	)

Request all the ambient values (from ground sensors) at once.

Parameters:

robotAddr	the address of the robot from which receive data.
groundArr	destination array for the ambient values (size must be 4).

Returns:

none

void getAllGroundAmbientFromAll

(

unsigned int

groundArr[][4]

)

Request all the ambient values (from ground sensors) of all the robots specified in the list.

Parameters:

groundArr

destination matrix for the ambient values (size must be list_size x 4).

Returns:

none

void getAllGroundFromAll

(

unsigned int

groundArr[][4]

)

Request all the ground sensors values of all the robots specified in the list.

Parameters:

groundArr

destination matrix for the ground values (size must be list_size x 4).

Returns:

none

void getAllProximity	(	int	robotAddr,
		unsigned int *	proxArr
	)

Request all the proximity sensors values at once.

Parameters:

robotAddr	the address of the robot from which receive data.
proxArr	destination array for the proximity values (size must be 8).

Returns:

none

void getAllProximityAmbient	(	int	robotAddr,
		unsigned int *	proxArr
	)

Request all the ambient values (from proximity sensors) at once.

Parameters:

robotAddr	the address of the robot from which receive data.
proxArr	destination array for the ambient values (size must be 8).

Returns:

none

void getAllProximityAmbientFromAll

(

unsigned int

proxArr[][8]

)

Request all the ambient values (from proximity sensors) of all the robots specified in the list.

Parameters:

proxArr

destination matrix for the ambient values (size must be list_size x 8).

Returns:

none

void getAllProximityFromAll

(

unsigned int

proxArr[][8]

)

Request all the proximity sensors values of all the robots specified in the list.

Parameters:

proxArr

destination matrix for the proximity values (size must be list_size x 8).

Returns:

none

unsigned int getBatteryAdc

(

int

robotAddr

)

Request the raw battery value, it contains the sampled value of the battery.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current battery value, the values range is between 780 (battery discharged) and 930 (battery charged).

unsigned int getBatteryPercent

(

int

robotAddr

)

Request the charge percentage of the battery.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current charge percentage, the values range is between 0 and 100.

unsigned char getFlagRX

(

int

robotAddr

)

Request the current flags value (raw) received from the robot.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current flag value.

unsigned char getFlagTX	(	int	robotAddr,
		int	flagInd
	)

Request the current flags value (raw) sent to the robot.

Parameters:

robotAddr	the address of the robot from which receive data.
flagInd	0 or 1

Returns:

current flag value.

unsigned int getGround	(	int	robotAddr,
		int	groundId
	)

Request one of the ground sensors value of the robot.

Parameters:

robotAddr	the address of the robot from which receive data.
groundId	from 0 to 3 (0 is on the left side, then increases clockwise).

Returns:

current ground value from 512 to 1023, the smaller the value the darker the surface

unsigned int getGroundAmbient	(	int	robotAddr,
		int	groundId
	)

Request one of the ambient value (from ground sensors) of the robot.

Parameters:

robotAddr	the address of the robot from which receive data.
groundId	from 0 to 3 (0 is on the left side, then increases clockwise).

Returns:

current ambient value from 0 to 1023, the smaller the value the brighter the ambient light

int getIdFromAddress

(

int

address

)

signed long int getLeftMotSteps

(

int

robotAddr

)

Request the current raw value of the left motor steps (sum of the measured speed).

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current motor steps.

signed int getOdomTheta

(

int

robotAddr

)

Request the current orientation of the robot computed from the measured speed of the motors.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current orientation of the robot expressed in 1/10 of degree (3600 degrees for a full turn).

signed int getOdomXpos

(

int

robotAddr

)

Request the current position (x component) of the robot computed from the measured speed of the motors.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current x position of the robot expressed in millimiters.

signed int getOdomYpos

(

int

robotAddr

)

Request the current position (y component) of the robot computed from the measured speed of the motors.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current y position of the robot expressed in millimiters.

unsigned int getProximity	(	int	robotAddr,
		int	proxId
	)

Request one of the proximity sensors value of the robot.

Parameters:

robotAddr	the address of the robot from which receive data.
proxId	from 0 to 7 (0 is in front, then increases clockwise).

Returns:

current proximity value from 0 to 1023, the greater the value the nearer the objects to the sensor

unsigned int getProximityAmbient	(	int	robotAddr,
		int	proxId
	)

Request one of the ambient value (from proximity sensors) of the robot.

Parameters:

robotAddr	the address of the robot from which receive data.
proxId	from 0 to 7 (0 is in front, then increases clockwise).

Returns:

current ambient value from 0 to 1023, the smaller the value the brighter the ambient light

double getRFQuality

(

int

robotAddr

)

Request the current percentage of failed trasnfers in the last 5 seconds.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current quality, 0 to 100.

signed long int getRightMotSteps

(

int

robotAddr

)

Request the current raw value of the right motor steps (sum of the measured speed).

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current motor steps.

unsigned char getSelector

(

int

robotAddr

)

Request the selector position.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current selector position, range is between 0 and 15.

unsigned char getTVRemoteCommand

(

int

robotAddr

)

Request last command received from the TV remote.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current TV remote value.

int getVerticalAngle

(

int

robotAddr

)

Request the current orientation of the robot given by the accelerometer. This function is usable only if the robot is moving vertically.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

current robot orientation, range is between 0 and 360 degrees (0 pointing to the right).

unsigned char messageIsSent

(

int

robotAddr

)

Request if the last modified packet is sent to the robot; this function is thought to be used in polling mode (continue to check whether the message is sent untill it is actually sent). Before the polling the function "resetMessageIsSentFlag" need to be called. It can be used for both check whether the robots received the new messages and to know when new data from the robots are available.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

0 if message not received by the robot, 1 if message sent correctly.

void resetFlagTX

(

int

robotAddr

)

Reset all the flags sent to the robot.

Parameters:

robotAddr

the address of the robot for which to change data.

Returns:

none.

void resetMessageIsSentFlag

(

int

robotAddr

)

Reset the flag indicating that the last modified packet is sent to the robot; it should be called before using "messageIsSent".

Parameters:

robotAddr

the address of the robot for which to change data.

Returns:

none.

void resetRobotData

(

int

robotIndex

)

void resumeTransferData

(

)

This function resume the transmission of the packets to the robots.

Returns:

none.

unsigned char robotIsCharged

(

int

robotAddr

)

Tell whether the robot is completely charged or not.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

0 not charged, 1 robot is charged.

unsigned char robotIsCharging

(

int

robotAddr

)

Tell whether the robot is charging or not.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

0 not charging, 1 robot is charging.

unsigned char sendMessageToRobot	(	int	robotAddr,
		char	red,
		char	green,
		char	blue,
		char	flags[2],
		char	left,
		char	right,
		char	leds,
		unsigned long	us
	)

Send a message to a particular robot resetting the list of robots to a single one (all previous address set with "startCommunication" will be lost).

Parameters:

robotAddr	the address of the robot for which to change data.
red,green,red	RGB channels intensity, range is between 0 (led off) to 100 (max power).
flags	raw flag bytes: byte0: first two bits are dedicated to the IRs: 0x00 => all IRs off 0x01 => back IR on 0x02 => front IRs on 0x03 => all IRs on third bit is used for enabling/disablng IR remote control (0=>diabled, 1=>enabled) fourth bit is used for sleep (1 => go to sleep for 1 minute) fifth bit is used to calibrate all sensors (proximity, ground, accelerometer) sixth bits is reserved (used by radio station) seventh bit is used for enabling/disabling onboard obstacle avoidance eight bit is used for enabling/disabling onboard cliff avoidance byte1: first is used for starting odometry calibration
left,right	left and right speed, range is -128..127.
leds	raw byte value for small green leds (bit0=0/1 turn off/on led0, bit1=0/1 turn off/on led1, ...).
us	function timeout given in microseconds

Returns:

0 if message sent succesfully, 1 otherwise.

void setBlue	(	int	robotAddr,
		unsigned char	value
	)

Set the blue intensity of the RGB led on the robot.

Parameters:

robotAddr	the address of the robot for which to change the packet.
value	The intensity, range is between 0 (led off) to 100 (max power).

Returns:

none

void setBlueForAll

(

unsigned char *

value

)

Set the blue intensity of the RGB led of all all the robots specified in the list.

Parameters:

value

The intensity array, range is between 0 (led off) to 100 (max power).

Returns:

none

void setCompletePacket	(	int	robotAddr,
		char	red,
		char	green,
		char	blue,
		char	flags[2],
		char	left,
		char	right,
		char	leds
	)

Set all the values of a robot at one time.

Parameters:

robotAddr	the address of the robot for which to change data.
red,green,red	RGB channels intensity, range is between 0 (led off) to 100 (max power).
flags	raw flag bytes: byte0: first two bits are dedicated to the IRs: 0x00 => all IRs off 0x01 => back IR on 0x02 => front IRs on 0x03 => all IRs on third bit is used for enabling/disablng IR remote control (0=>diabled, 1=>enabled) fourth bit is used for sleep (1 => go to sleep for 1 minute) fifth bit is used to calibrate all sensors (proximity, ground, accelerometer) sixth bits is reserved (used by radio station) seventh bit is used for enabling/disabling onboard obstacle avoidance eight bit is used for enabling/disabling onboard cliff avoidance byte1: first is used for starting odometry calibration
left,right	left and right speed, range is -128..127.
leds	raw byte value for small green leds (bit0=0/1 turn off/on led0, bit1=0/1 turn off/on led1, ...).

Returns:

none.

void setCompletePacketForAll	(	int *	robotAddr,
		char *	red,
		char *	green,
		char *	blue,
		char	flags[][2],
		char *	left,
		char *	right,
		char *	leds
	)

Set all the values of all the robots specified in the list.

Parameters:

robotAddr	array the addresses of the robots for which to change data.
red,green,red	arrays RGB channels intensity, range is between 0 (led off) to 100 (max power).
flags	array raw flag bytes: byte0: first two bits are dedicated to the IRs: 0x00 => all IRs off 0x01 => back IR on 0x02 => front IRs on 0x03 => all IRs on third bit is used for enabling/disablng IR remote control (0=>diabled, 1=>enabled) fourth bit is used for sleep (1 => go to sleep for 1 minute) fifth bit is used to calibrate all sensors (proximity, ground, accelerometer) sixth bits is reserved (used by radio station) seventh bit is used for enabling/disabling onboard obstacle avoidance eight bit is used for enabling/disabling onboard cliff avoidance byte1: first is used for starting odometry calibration
left,right	arrays left and right speed, range is -128..127.
leds	array raw byte value for small green leds (bit0=0/1 turn off/on led0, bit1=0/1 turn off/on led1, ...).

Returns:

none.

void setGreen	(	int	robotAddr,
		unsigned char	value
	)

Set the green intensity of the RGB led on the robot.

Parameters:

robotAddr	the address of the robot for which to change the packet.
value	The intensity, range is between 0 (led off) to 100 (max power).

Returns:

none

void setGreenForAll

(

unsigned char *

value

)

Set the green intensity of the RGB led of all the robots specified in the list.

Parameters:

value

The intensity array, range is between 0 (led off) to 100 (max power).

Returns:

none

void setLeftSpeed	(	int	robotAddr,
		char	value
	)

Set the left speed of the robot.

Parameters:

robotAddr	the address of the robot for which to change the packet.
value	The speed, range is between -128 to 127.

Returns:

none

void setLeftSpeedForAll

(

char *

value

)

Set the left speed of all the robots specified in the list.

Parameters:

value

The speed array, range is between -128 to 127.

Returns:

none

void setMutexRx

(

)

void setMutexThread

(

)

void setMutexTx

(

)

void setRed	(	int	robotAddr,
		unsigned char	value
	)

Set the red intensity of the RGB led on the robot.

Parameters:

robotAddr	the address of the robot for which to change the packet.
value	The intensity, range is between 0 (led off) to 100 (max power).

Returns:

none

void setRedForAll

(

unsigned char *

value

)

Set the red intensity of the RGB led of all the robots specified in the list.

Parameters:

value

The intensity array, range is between 0 (led off) to 100 (max power).

Returns:

none

void setRightSpeed	(	int	robotAddr,
		char	value
	)

Set the right speed of the robot.

Parameters:

robotAddr	the address of the robot for which to change the packet.
value	The speed, range is between -128 to 127.

Returns:

none

void setRightSpeedForAll

(

char *

value

)

Set the right speed of all the robots specified in the list.

Parameters:

value

The speed array, range is between -128 to 127.

Returns:

none

void setRobotAddress	(	int	robotIndex,
		int	robotAddr
	)

Set the address of a robot related to a particular index, the index must be in the range of the robot list size.

Parameters:

robotIndex	from 0 to number of robots - 1 (set with "setRobotAddresses" function)
robotAddr	the address of the robot

Returns:

none

void setRobotAddresses	(	int *	robotAddr,
		int	numRobots
	)

Set the addresses of the robots that need to be controlled; max number of simultaneous robots is 100.

Parameters:

robotAddr	array list of robot addresses to be handled.
numRobots	the array size (number of robots to handle).

Returns:

none

void setSmallLed	(	int	robotAddr,
		int	ledId,
		int	state
	)

Set a new stato (on or off) for the small green leds around the robot.

Parameters:

robotAddr	the address of the robot from which receive data.
ledId	the led to change, from 0 to 7 (0 is in front, then increases clockwise).
state	0 to turn off, 1 to turn on.

Returns:

none.

char speed

(

char

value

)

void startCommunication	(	int *	robotAddr,
		int	numRobots
	)

To be called once at the beginning, it init the USB communication with the RF module that is responsible to send data to the robots and initialize the list of robots to be controlled; max number of simultaneous robots is 100.

Parameters:

robotAddr	array list of robot addresses to be handled.
numRobots	the array size (number of robots to handle).

Returns:

none

void startOdometryCalibration

(

int

robotAddr

)

Start the odometry calibration.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none.

void stopCommunication

(

)

To be called once at the end, it closes the USB communication.

Returns:

none

void stopTransferData

(

)

This function stop the transmission of the packets to the robots.

Returns:

none.

void transferData

(

)

This function need to be called periodically (as fast as possible) in order to exchange data with the robots.

Returns:

none.

void turnOffAllIRs

(

int

robotAddr

)

Turn off all the 3 IRs transmitter on the robot.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void turnOffBackIR

(

int

robotAddr

)

Turn off the back IR transmitter on the robot.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void turnOffFrontIRs

(

int

robotAddr

)

Turn off both the front IRs transmitter on the robot.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void turnOffSmallLeds

(

int

robotAddr

)

Turn off all the small green leds around the robot.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

none.

void turnOnAllIRs

(

int

robotAddr

)

Turn on all the 3 IRs transmitter on the robot.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void turnOnBackIR

(

int

robotAddr

)

Turn on the back IR transmitter on the robot.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void turnOnFrontIRs

(

int

robotAddr

)

Turn on both the front IRs transmitter on the robot.

Parameters:

robotAddr

the address of the robot for which to change the packet.

Returns:

none

void turnOnSmallLeds

(

int

robotAddr

)

Turn on all the small green leds around the robot.

Parameters:

robotAddr

the address of the robot from which receive data.

Returns:

none.

unsigned char waitForUpdate	(	int	robotAddr,
		unsigned long	us
	)

Wait for updated data coming from the robot; if the robot isn't reachable (out of range, discharged, ...) then the function will exit after the amount of time specified as parameter even if no data are received. this function can be used also to check whether a message is successfully sent to a robot or not.

Parameters:

robotAddr	the address of the robot from which receive data.
us	function timeout given in microseconds

Returns:

0 if updated data received, 1 otherwise.

---

Variable Documentation

signed int accX[100]

signed int accY[100]

signed int accZ[100]

unsigned int batteryAdc[100]

unsigned int batteryPercent[100]

char blueLed[100]

unsigned char calibrateOdomSent[100]

unsigned char calibrationSent[100]

unsigned int currNumRobots = 0

unsigned int currPacketId = 0

double errorPercentage[100]

unsigned char flagsRX[100]

unsigned char flagsTX[100][2]

char greenLed[100]

unsigned int groundAmbientValue[100][4]

unsigned int groundValue[100][4]

unsigned char lastMessageSentFlag[100]

signed long int leftMotSteps[100]

char leftSpeed[100]

double numOfErrors[100]

double numOfPackets = 0

unsigned int proxAmbientValue[100][8]

unsigned int proxValue[100][8]

char redLed[100]

signed long int rightMotSteps[100]

char rightSpeed[100]

int robotAddress[100]

signed int robTheta[100]

signed int robXPos[100]

signed int robYPos[100]

char RX_buffer[64] = {0}

unsigned char selector[100]

unsigned char sleepEnabledFlag[100]

unsigned char smallLeds[100]

unsigned char stopTransmissionFlag = 0

unsigned char tvRemote[100]

char TX_buffer[64] = {0}

unsigned char usbCommOpenedFlag = 0