This class interfaces with NXTLineLeader sensor attached to EVShield. More...

#include <EVs_LineLeader.h>

Inheritance diagram for EVs_LineLeader:

Public Member Functions
	EVs_LineLeader (uint8_t i2c_address=0x02)

uint8_t	issueCommand (char command)

bool	calibrateWhite ()

bool	calibrateBlack ()

bool	sleep ()

bool	wakeUp ()

bool	invertLineColorToWhite ()

bool	resetColorInversion ()

bool	takeSnapshot ()

bool	configureUS ()

bool	configureEurope ()

bool	configureUniversal ()

uint8_t	getSetPoint ()

bool	setSetPoint (uint8_t spoint)

uint8_t	getKp (uint8_t kp)

bool	setKp (uint8_t kp)

uint8_t	getKi (uint8_t ki)

bool	setKi (uint8_t ki)

uint8_t	getKd (uint8_t kd)

bool	setKd (uint8_t kd)

uint8_t	getKpFactor (uint8_t kpfact)

bool	setKpFactor (uint8_t kpfact)

uint8_t	getKiFactor (uint8_t kifact)

bool	setKiFactor (uint8_t kifact)

uint8_t	getKdFactor (uint8_t kdfact)

bool	setKdFactor (uint8_t kdfact)

int	getSteering ()

unsigned char	getAverage ()

unsigned char	getResult ()

uint8_t *	getRawCalibrated ()

uint8_t *	getRawUncalibrated ()

uint8_t *	getWhiteLimit ()

uint8_t *	getBlackLimit ()

uint8_t *	getWhiteCalibration ()

uint8_t *	getBlackCalibration ()

Public Member Functions inherited from EVShieldI2C
	EVShieldI2C (uint8_t i2c_address)

void	init (void *shield, SH_BankPort bp)

uint8_t	readByte (uint8_t location)

uint16_t	readInteger (uint8_t location)

uint32_t	readLong (uint8_t location)

uint8_t *	readRegisters (uint8_t start_register, uint8_t bytes, uint8_t *buf)

char *	readString (uint8_t location, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0)

bool	writeRegisters (uint8_t start_register, uint8_t bytes_to_write, uint8_t *buffer=0)

bool	writeByte (uint8_t location, uint8_t data)

bool	writeInteger (uint8_t location, uint16_t data)

bool	writeLong (uint8_t location, uint32_t data)

char *	getFirmwareVersion ()

char *	getVendorID ()

char *	getDeviceID ()

char *	getFeatureSet ()

uint8_t	getErrorCode ()

bool	checkAddress ()

bool	setAddress (uint8_t address)

Public Member Functions inherited from BaseI2CDevice
	BaseI2CDevice (uint8_t i2c_address)

void	initProtocol ()

uint8_t *	readRegisters (uint8_t start_register, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0, bool clear_buffer=false)

uint8_t	readByte (uint8_t location)

int16_t	readInteger (uint8_t location)

uint32_t	readLong (uint8_t location)

char *	readString (uint8_t location, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0)

bool	writeRegisters (uint8_t start_register, uint8_t bytes_to_write, uint8_t *buffer=0)

bool	writeByte (uint8_t location, uint8_t data)

bool	writeInteger (uint8_t location, uint16_t data)

bool	writeLong (uint8_t location, uint32_t data)

bool	checkAddress ()

bool	setAddress (uint8_t i2c_address)

uint8_t	getAddress ()

uint8_t	getWriteErrorCode ()

char *	getFirmwareVersion ()

char *	getVendorID ()

char *	getDeviceID ()

char *	getFeatureSet ()

Public Member Functions inherited from SoftI2cMaster
uint8_t	start (uint8_t addressRW)

void	stop (void)

uint8_t	restart (uint8_t addressRW)

uint8_t	write (uint8_t b)

uint8_t	read (uint8_t last)

	SoftI2cMaster (uint8_t devAddr)

void	initProtocol (uint8_t sclPin=(uint8_t) NULL, uint8_t sdaPin=(uint8_t) NULL)

uint8_t *	readRegisters (uint8_t startRegister, uint8_t bytes, uint8_t *buf=NULL)

bool	writeRegistersWithLocation (int bytes, uint8_t *buf)

bool	writeRegisters (uint8_t location, uint8_t bytes_to_write, uint8_t *buffer=0)

bool	writeByte (uint8_t location, uint8_t data)

bool	writeInteger (uint8_t location, uint16_t data)

bool	writeLong (uint8_t location, uint32_t data)

char *	readString (uint8_t startRegister, uint8_t bytes, uint8_t *buf=NULL, uint8_t len=0)

uint8_t	readByte (uint8_t location)

int16_t	readInteger (uint8_t location)

uint32_t	readLong (uint8_t location)

char *	getFirmwareVersion ()

char *	getVendorID ()

char *	getDeviceID ()

uint8_t	getWriteErrorCode ()

bool	checkAddress ()

bool	setAddress (uint8_t address)

Additional Inherited Members
Public Attributes inherited from EVShieldI2C
void *	mp_shield

uint8_t *	_i2c_buffer

uint8_t	m_protocol

Public Attributes inherited from SoftI2cMaster
uint8_t *	_so_buffer

Static Public Attributes inherited from BaseI2CDevice
static uint8_t *	_buffer = 0

static bool	b_initialized = false

Protected Member Functions inherited from BaseI2CDevice
void	setWriteErrorCode (uint8_t code)

Detailed Description

This class interfaces with NXTLineLeader sensor attached to EVShield.

Constructor & Destructor Documentation

§ EVs_LineLeader()

EVs_LineLeader::EVs_LineLeader ( uint8_t i2c_address = 0x02 )

class constructor for LineLeader; custom i2c address is an optional parameter

Member Function Documentation

§ calibrateBlack()

bool EVs_LineLeader::calibrateBlack ( )

calibrate the current input to the device as black

§ calibrateWhite()

bool EVs_LineLeader::calibrateWhite ( )

calibrate the current input to the device as white

§ configureEurope()

bool EVs_LineLeader::configureEurope ( )

Configure sensor for European region (and regions with 50 Hz electrical frequency)

§ configureUniversal()

bool EVs_LineLeader::configureUniversal ( )

Configure sensor for universal frequency (in this mode the sensor adjusts for any frequency, this is also the default mode).

§ configureUS()

bool EVs_LineLeader::configureUS ( )

Configure Sensor for US region (and regions with 60 Hz electrical frequency).

§ getAverage()

unsigned char EVs_LineLeader::getAverage ( )

returns a weighted average of the current position of the line in relation to the sensor

§ getBlackCalibration()

uint8_t * EVs_LineLeader::getBlackCalibration ( )

returns the current calibration of black

§ getBlackLimit()

uint8_t * EVs_LineLeader::getBlackLimit ( )

get the limit at which black changes to white

§ getKd()

uint8_t EVs_LineLeader::getKd ( uint8_t kd )

get the current derivative factor for PID control

§ getKdFactor()

uint8_t EVs_LineLeader::getKdFactor ( uint8_t kdfact )

Get the Kd factor

Returns: kd factor

§ getKi()

uint8_t EVs_LineLeader::getKi ( uint8_t ki )

get the current integral factor for PID control

§ getKiFactor()

uint8_t EVs_LineLeader::getKiFactor ( uint8_t kifact )

Get the Ki factor

Returns: ki factor

§ getKp()

uint8_t EVs_LineLeader::getKp ( uint8_t kp )

get the current proportion factor for PID control

§ getKpFactor()

uint8_t EVs_LineLeader::getKpFactor ( uint8_t kpfact )

Get the Kp factor

Returns: kp factor

§ getRawCalibrated()

uint8_t * EVs_LineLeader::getRawCalibrated ( )

get the raw readings from the sensor that is calibrated based on black and white calibration values

Returns: array of 8 bytes of the sensors' calibrated values.

§ getRawUncalibrated()

uint8_t * EVs_LineLeader::getRawUncalibrated ( )

get the raw uncalibrated sensor values straight from the sensor

Returns: array of 8 bytes of the sensors' uncalibrated values.

§ getResult()

unsigned char EVs_LineLeader::getResult ( )

returns a byte of the current result; each bit corresponds to one light sensor

§ getSetPoint()

uint8_t EVs_LineLeader::getSetPoint ( )

returns the current setpoint used by the PID control on the device

§ getSteering()

int EVs_LineLeader::getSteering ( )

current steering value, add or subtract from the speed of motors on each side

§ getWhiteCalibration()

uint8_t * EVs_LineLeader::getWhiteCalibration ( )

returns the current calibration of white

§ getWhiteLimit()

uint8_t * EVs_LineLeader::getWhiteLimit ( )

get the limit at which white changes to black

§ invertLineColorToWhite()

bool EVs_LineLeader::invertLineColorToWhite ( )

Color inversion (White line on a black background)

§ issueCommand()

uint8_t EVs_LineLeader::issueCommand ( char command )

write a command byte to the command register of the device

§ resetColorInversion()

bool EVs_LineLeader::resetColorInversion ( )

Reset Color inversion (black line on a white background, this is also the default).

§ setKd()

bool EVs_LineLeader::setKd ( uint8_t kd )

set the derivative factor for PID control

§ setKdFactor()

bool EVs_LineLeader::setKdFactor ( uint8_t kdfact )

Set the Kd factor

§ setKi()

bool EVs_LineLeader::setKi ( uint8_t ki )

set the integral factor for PID control

§ setKiFactor()

bool EVs_LineLeader::setKiFactor ( uint8_t kifact )

Set the Ki factor

§ setKp()

bool EVs_LineLeader::setKp ( uint8_t kp )

set the proportion factor for PID control

§ setKpFactor()

bool EVs_LineLeader::setKpFactor ( uint8_t kpfact )

Set the Kp factor

§ setSetPoint()

bool EVs_LineLeader::setSetPoint ( uint8_t spoint )

set the desired point relative to the 8 sensors for PID control

§ sleep()

bool EVs_LineLeader::sleep ( )

turn off the LEDs on the device and put it in the sleep state

§ takeSnapshot()

bool EVs_LineLeader::takeSnapshot ( )

Take a snapshot, this command looks at the line under the sensor and stores the width and position of the line in sensor’s memory. Subsequently, sensor will use these characteristics of line to track it. This command inverts the colors if it sees a white line on black background. (PID parameters are not affected).

§ wakeUp()

bool EVs_LineLeader::wakeUp ( )

turn on the LEDs and wake up the device

The documentation for this class was generated from the following files:

C:/Program Files (x86)/Arduino-1.6.12/libraries/EVShield/EVs_LineLeader.h
C:/Program Files (x86)/Arduino-1.6.12/libraries/EVShield/EVs_LineLeader.cpp

Public Member Functions

Additional Inherited Members