29 #ifndef EVs_LineLeader_H 30 #define EVs_LineLeader_H 32 #define LineLeader_Raw_Calibrated 0x49 33 #define LineLeader_Raw_Uncalibrated 0x74 34 #define LineLeader_White_Limit 0x51 35 #define LineLeader_Black_Limit 0x59 36 #define LineLeader_White_Calibration 0x64 37 #define LineLeader_Black_Calibration 0x6C 40 #define LineLeader_Command 0x41 41 #define LineLeader_Steering 0x42 42 #define LineLeader_Average 0x43 43 #define LineLeader_Result 0x44 44 #define LineLeader_SetPoint 0x45 45 #define LineLeader_Kp 0x46 46 #define LineLeader_Ki 0x47 47 #define LineLeader_Kd 0x48 48 #define LineLeader_Kp_Factor 0x61 49 #define LineLeader_Ki_Factor 0x62 50 #define LineLeader_Kd_Factor 0x63 52 #include "EVShieldI2C.h" 110 uint8_t
getKp(uint8_t kp);
113 bool setKp(uint8_t kp);
116 uint8_t
getKi(uint8_t ki);
119 bool setKi(uint8_t ki);
122 uint8_t
getKd(uint8_t kd);
125 bool setKd(uint8_t kd);
bool configureEurope()
Definition: EVs_LineLeader.cpp:82
uint8_t getKp(uint8_t kp)
Definition: EVs_LineLeader.cpp:102
bool configureUniversal()
Definition: EVs_LineLeader.cpp:87
bool calibrateWhite()
Definition: EVs_LineLeader.cpp:42
bool setKd(uint8_t kd)
Definition: EVs_LineLeader.cpp:127
bool sleep()
Definition: EVs_LineLeader.cpp:52
uint8_t * getBlackCalibration()
Definition: EVs_LineLeader.cpp:202
unsigned char getResult()
Definition: EVs_LineLeader.cpp:172
uint8_t getKdFactor(uint8_t kdfact)
Definition: EVs_LineLeader.cpp:152
bool setKp(uint8_t kp)
Definition: EVs_LineLeader.cpp:107
bool takeSnapshot()
Definition: EVs_LineLeader.cpp:72
uint8_t getKi(uint8_t ki)
Definition: EVs_LineLeader.cpp:112
uint8_t * getRawUncalibrated()
Definition: EVs_LineLeader.cpp:182
uint8_t issueCommand(char command)
Definition: EVs_LineLeader.cpp:37
uint8_t getKd(uint8_t kd)
Definition: EVs_LineLeader.cpp:122
bool wakeUp()
Definition: EVs_LineLeader.cpp:57
unsigned char getAverage()
Definition: EVs_LineLeader.cpp:167
int getSteering()
Definition: EVs_LineLeader.cpp:162
uint8_t * getWhiteCalibration()
Definition: EVs_LineLeader.cpp:197
This class implements I2C interfaces used by EVShield.
Definition: EVShieldI2C.h:32
bool invertLineColorToWhite()
Definition: EVs_LineLeader.cpp:62
uint8_t * getRawCalibrated()
Definition: EVs_LineLeader.cpp:177
bool setKpFactor(uint8_t kpfact)
Definition: EVs_LineLeader.cpp:137
uint8_t getKpFactor(uint8_t kpfact)
Definition: EVs_LineLeader.cpp:132
bool resetColorInversion()
Definition: EVs_LineLeader.cpp:67
bool setKiFactor(uint8_t kifact)
Definition: EVs_LineLeader.cpp:147
EVs_LineLeader(uint8_t i2c_address=0x02)
Definition: EVs_LineLeader.cpp:32
bool setKi(uint8_t ki)
Definition: EVs_LineLeader.cpp:117
uint8_t * getWhiteLimit()
Definition: EVs_LineLeader.cpp:187
uint8_t * getBlackLimit()
Definition: EVs_LineLeader.cpp:192
uint8_t getKiFactor(uint8_t kifact)
Definition: EVs_LineLeader.cpp:142
uint8_t getSetPoint()
Definition: EVs_LineLeader.cpp:92
bool calibrateBlack()
Definition: EVs_LineLeader.cpp:47
This class interfaces with NXTLineLeader sensor attached to EVShield.
Definition: EVs_LineLeader.h:57
bool configureUS()
Definition: EVs_LineLeader.cpp:77
bool setSetPoint(uint8_t spoint)
Definition: EVs_LineLeader.cpp:97
bool setKdFactor(uint8_t kdfact)
Definition: EVs_LineLeader.cpp:157