#include "SHDefines.h"
#include "NXShieldI2C.h"

Classes
class	NXShieldBank
	This class defines methods for the NXShield Bank(s). More...

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

class	NXShield
	This class defines methods to access NXShield 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 0x41

#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 0x62

#define	SH_POSITION_M2 0x66

#define	SH_STATUS_M1 0x72

#define	SH_STATUS_M2 0x73

#define	SH_TASKS_M1 0x76

#define	SH_TASKS_M2 0x77

#define	SH_ENCODER_PID 0x7A

#define	SH_SPEED_PID 0x80

#define	SH_PASS_COUNT 0x86

#define	SH_TOLERANCE 0x87

#define	SH_Speed_Full 90

#define	SH_Speed_Medium 60

#define	SH_Speed_Slow 25

#define	SH_Bank_A 0x06

#define	SH_Bank_B 0x08

#define	SH_Type_ANALOG_PASSIVE 0x01

#define	SH_Type_ANALOG_9VOLTS 0x02

#define	SH_Type_ANALOG_ACTIVE 0x02

#define	SH_Type_I2C 0x04

#define	SH_Type_ANALOG 0x08

#define	SH_Type_MIXED 0x10

#define	SH_Type_DATABIT0_HIGH 0x40

#define	SH_Type_DATABIT1_HIGH 0x80

#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

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

Macro Definition Documentation

#define SH_Bank_A 0x06

I2C address of bank A

#define SH_Bank_B 0x08

I2C address of bank B

#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.

#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.

#define SH_Type_ANALOG 0x08

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

#define SH_Type_ANALOG_9VOLTS 0x02

In this type 9 volt power is supplied to sensor.

#define SH_Type_ANALOG_ACTIVE 0x02

Useed for Active sensors, in which pulsed power (9 volts) is supplied to sensor.

#define SH_Type_ANALOG_PASSIVE 0x01

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

#define SH_Type_DATABIT0_HIGH 0x40

in this type: light sensor - light is turned on, sumoeyes changes range, and sound sensor changes range (db to linear)

#define SH_Type_DATABIT1_HIGH 0x80

required for sound sensor to change range (db to linear)

#define SH_Type_I2C 0x04

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

#define SH_Type_MIXED 0x10

this type is theoratical. (possibly for SumoEyes)

Enumeration Type Documentation

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

enum SH_Direction

Motor direction related constants.

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

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

enum SH_Move

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

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

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

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation