#include "SHDefines.h"
#include "EVShieldI2C.h"

Classes
class	EVShieldBank
	This class defines methods for the EVShield Bank(s). More...

class	EVShieldBankB
	EVShield has two banks. Bank B has few differences from Bank A. This class defines overriding methods for the EVShield Bank B. More...

class	EVShield
	This class defines methods to access EVShield features. More...

Macros
#define	SH_CONTROL_SPEED 0x01

#define	SH_CONTROL_RAMP 0x02

#define	SH_CONTROL_RELATIVE 0x04

#define	SH_CONTROL_TACHO 0x08

#define	SH_CONTROL_BRK 0x10

#define	SH_CONTROL_ON 0x20

#define	SH_CONTROL_TIME 0x40

#define	SH_CONTROL_GO 0x80

#define	SH_STATUS_SPEED 0x01

#define	SH_STATUS_RAMP 0x02

#define	SH_STATUS_MOVING 0x04

#define	SH_STATUS_TACHO 0x08

#define	SH_STATUS_BREAK 0x10

#define	SH_STATUS_OVERLOAD 0x20

#define	SH_STATUS_TIME 0x40

#define	SH_STATUS_STALL 0x80

#define	SH_COMMAND 0x41

#define	SH_VOLTAGE 0x6E

#define	SH_SETPT_M1 0x42

#define	SH_SPEED_M1 0x46

#define	SH_TIME_M1 0x47

#define	SH_CMD_B_M1 0x48

#define	SH_CMD_A_M1 0x49

#define	SH_SETPT_M2 0x4A

#define	SH_SPEED_M2 0x4E

#define	SH_TIME_M2 0x4F

#define	SH_CMD_B_M2 0x50

#define	SH_CMD_A_M2 0x51

#define	SH_POSITION_M1 0x52

#define	SH_POSITION_M2 0x56

#define	SH_STATUS_M1 0x5A

#define	SH_STATUS_M2 0x5B

#define	SH_TASKS_M1 0x5C

#define	SH_TASKS_M2 0x5D

#define	SH_ENCODER_PID 0x5E

#define	SH_SPEED_PID 0x64

#define	SH_PASS_COUNT 0x6A

#define	SH_TOLERANCE 0x6B

#define	SH_S1_MODE 0x6F

#define	SH_S1_EV3_MODE 0x6F

#define	SH_S1_ANALOG 0x70

#define	SH_S2_MODE 0xA3

#define	SH_S2_EV3_MODE 0x6F

#define	SH_S2_ANALOG 0xA4

#define	SH_BTN_PRESS 0xDA

#define	SH_RGB_LED 0xD7

#define	SH_CENTER_RGB_LED 0xDE

#define	SH_PS_TS_X 0xE3

#define	SH_PS_TS_Y 0xE5

#define	SH_PS_TS_RAWX 0xE7

#define	SH_PS_TS_RAWY 0xE9

#define	SH_PS_TS_CALIBRATION_DATA_READY 0x70

#define	SH_PS_TS_CALIBRATION_DATA 0x71

#define	SH_PS_TS_SAVE 0x77

#define	SH_PS_TS_LOAD 0x6C

#define	SH_PS_TS_UNLOCK 0x45

#define	SH_Speed_Full 90

#define	SH_Speed_Medium 60

#define	SH_Speed_Slow 25

#define	SH_Bank_A 0x34

#define	SH_Bank_B 0x36

#define	SH_Type_NONE 0x00

#define	SH_Type_SWITCH 0x01

#define	SH_Type_ANALOG 0x02

#define	SH_Type_LIGHT_REFLECTED 0x03

#define	SH_Type_LIGHT_AMBIENT 0x04

#define	SH_Type_I2C 0x09

#define	SH_Type_COLORFULL 13

#define	SH_Type_COLORRED 14

#define	SH_Type_COLORGREEN 15

#define	SH_Type_COLORBLUE 16

#define	SH_Type_COLORNONE 17

#define	SH_Type_EV3_SWITCH 18

#define	SH_Type_EV3 19

#define	SH_S1 1

#define	SH_S2 2

Enumerations
enum	SH_Motor { SH_Motor_1 = 0x01, SH_Motor_2 = 0x02, SH_Motor_Both = 0x03 }

enum	SH_Next_Action { SH_Next_Action_Float = 0x00, SH_Next_Action_Brake = 0x01, SH_Next_Action_BrakeHold = 0x02 }

enum	SH_Direction { SH_Direction_Reverse = 0x00, SH_Direction_Forward = 0x01 }

enum	SH_Move { SH_Move_Absolute = 0x00, SH_Move_Relative = 0x01 }

enum	SH_Completion_Wait { SH_Completion_Dont_Wait = 0x00, SH_Completion_Wait_For = 0x01 }

Functions
bool	format_bin (uint8_t i, char *s)

Detailed Description

EVShield.h defines main interfaces used in the EVShield library.

Macro Definition Documentation

§ SH_Bank_A

#define SH_Bank_A 0x34

I2C address of bank A

§ SH_Bank_B

#define SH_Bank_B 0x36

I2C address of bank B

§ SH_S1

#define SH_S1 1

This is used internally to address Sensor Port 1. Do not use this in sketches. Sketches should use SH_BankPort enums.

§ SH_S2

#define SH_S2 2

This is used internally to address Sensor Port 2. Do not use this in sketches. Sketches should use SH_BankPort enums.

§ SH_Type_ANALOG

#define SH_Type_ANALOG 0x02

In this type the sensor port is not powered (for sensors like touch sensor).

§ SH_Type_COLORBLUE

#define SH_Type_COLORBLUE 16

In this type the sensor connected is NXT color sensor in BLUE color mode

§ SH_Type_COLORFULL

#define SH_Type_COLORFULL 13

In this type the sensor connected is NXT color sensor in color mode

§ SH_Type_COLORGREEN

#define SH_Type_COLORGREEN 15

In this type the sensor connected is NXT color sensor in GREEN color mode

§ SH_Type_COLORNONE

#define SH_Type_COLORNONE 17

In this type the sensor connected is NXT color sensor in ambient light mode

§ SH_Type_COLORRED

#define SH_Type_COLORRED 14

In this type the sensor connected is NXT color sensor in RED color mode

§ SH_Type_EV3

#define SH_Type_EV3 19

In this type the sensor connected is EV3 UART sensor

§ SH_Type_EV3_SWITCH

#define SH_Type_EV3_SWITCH 18

In this type the sensor connected is EV3 touch sensor

§ SH_Type_I2C

#define SH_Type_I2C 0x09

In this type the sensor connected should be an i2c device.

§ SH_Type_LIGHT_AMBIENT

#define SH_Type_LIGHT_AMBIENT 0x04

Used for detection of ambient Light using the light sensors,

§ SH_Type_LIGHT_REFLECTED

#define SH_Type_LIGHT_REFLECTED 0x03

Used for detection of Refelected Light from Light sensors,

§ SH_Type_NONE

#define SH_Type_NONE 0x00

In this type the sensor port is not defined and used.

Enumeration Type Documentation

§ SH_Completion_Wait

enum SH_Completion_Wait

Enumerator
SH_Completion_Dont_Wait	Don't wait for motor to finish, program will continue with next function
SH_Completion_Wait_For	Wait for motor to finish, program will wait until current function finishes it's operation

§ SH_Direction

enum SH_Direction

Motor direction related constants.

Enumerator
SH_Direction_Reverse	Run motor in reverse direction
SH_Direction_Forward	Run motor in forward direction

§ SH_Motor

enum SH_Motor

Motor selection related constants

Enumerator
SH_Motor_1	Choose Motor 1 for selected operation
SH_Motor_2	Choose Motor 2 for selected operation
SH_Motor_Both	Choose Both Motors for selected operation

§ SH_Move

enum SH_Move

Enumerator
SH_Move_Absolute	Move the tach to absolute value provided
SH_Move_Relative	Move the tach relative to previous position

§ SH_Next_Action

enum SH_Next_Action

Enumerator
SH_Next_Action_Float	stop and let the motor coast.
SH_Next_Action_Brake	apply brakes, and resist change to tachometer, but if tach position is forcibly changed, do not restore position
SH_Next_Action_BrakeHold	apply brakes, and restore externally forced change to tachometer

Function Documentation

§ format_bin()

bool format_bin	(	uint8_t	i,
		char *	s
	)

This function formats an integer in binary format.

Parameters

i	8 bit integer value
s	returned string of the binary representation

Classes

Macros

Enumerations

Functions