Functions which handle the line sensors. More...

Modules
	Advanced informations

Enumerations
enum	eLineDigitalMask
	clusters bit masks for the digital state of the line sensors More...

enum	eLineEnableMask
	clusters bit masks for the enable-flags of the line sensors More...

enum	eLineSelectMask
	clusters bit masks for the requests of the line sensors More...

enum	eLineGet
	clusters select values for reading data from the line sensors More...

enum	eLineSet
	clusters select values for writing data to the line sensors More...

Request Funktions
void	line_request (eLineSelectMask bitmask, eRequestType request)
	Requests new data from the line sensors. More...

eLineSelectMask	line_received (eLineSelectMask bitmask)
	Indicates if new data for the selected data blocks were received. More...

eLineSelectMask	line_changed (eLineSelectMask bitmask)
	Indicates if new data changed the selected data blocks. More...

uint8_t	line_transmitted (void)
	Indicates if the data block sMD_SensLineEnable was transmitted. More...

Access Funktions
uint8_t	line_get (eLineGet select)
	Returns the last stored version of the selected value. More...

void	line_set (eLineSet select, uint8_t value)
	Sets the selected values of the line sensors. More...

Detailed Description

Functions which handle the line sensors.

The line sensors are part of the driving module. All actions, like reading their current value or setting them up, involve internal TWI communication. This may take some milliseconds (delay time).

The TUC-Bot has five line sensors. Three in front and two in the middle. The three front sensors are indented for line following tasks, while the other two are designed for maze solving tasks.

The following figure shows a bottom view of the TUC-Bot. The red sensors labeled with number 4 are the line sensors.

The sensors themself are analog and converted using the internal adc. That's why each sensors measurement is an 8-bit number between 0 and 255.

In principle the line sensor are just measuring the brightness. To make them independend of lighting conditions they have their one light source. This additional light is activated using the enable flags.

Any measurement from these sensors need to be requested. To reduce the communication overhead the measurement values can be requested in parts:
As mentioned before the front sensors and the middle sensors are usually used for different applications and must be requested separately.
Typically the single sensor measurements are compared to threshold values. If the threshold for all sensors is the same, the comparing can be done by the driving module. This will reduce each sensor information to a binary number and speeds up communication. This relies to the third way of requesting data. The forth way is dedicated to the readout of the current enable flags and the threshold value.
See also eLineSelectMask.

example

/*******************************************************************************
* examples/lineSimple.c                                                        *
* =====================                                                        *
*                                                                              *
* Version: 1.0.5                                                               *
* Date   : 07.11.17                                                            *
* Author : Peter Weissig                                                       *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testLine(void);
int main(void);
 
//*********************************[testLine]***********************************
void testLine(void) {
 
    lcdclr();
    lcdstr_p(PSTR("Line"            ));
    lcdxy(0,1);
    lcdstr_p(PSTR("###   ###    ###"));
 
    line_set(kLineSetEnable, kLineEnableFront);
    line_request(kLineSelectFront, kRequestContinuous);
 
    while (1) {
        if (line_changed(kLineSelectFront)) {
            lcdxy( 0,1);
            uint16tostr(lcdout,line_get(kLineGetFrontLeft  ),3);
 
            lcdxy( 6,1);
            uint16tostr(lcdout,line_get(kLineGetFrontMiddle),3);
 
            lcdxy(13,1);
            uint16tostr(lcdout,line_get(kLineGetFrontRight ),3);
 
            mdelay(250);
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    testLine();
 
    return (0);
}

Enumeration Type Documentation

◆ eLineDigitalMask

enum eLineDigitalMask

clusters bit masks for the digital state of the line sensors

See also: line_get()

Enumerator
kLineDigitalNone	bit mask (0x00): no line sensor
kLineDigitalFrontLeft	bit mask (0x01): front left line sensor
kLineDigitalFrontMiddle	bit mask (0x02): front middle line sensor
kLineDigitalFrontRight	bit mask (0x04): front right line sensor
kLineDigitalMiddleLeft	bit mask (0x08): middle left line sensor
kLineDigitalMiddleRight	bit mask (0x10): middle right line sensor
kLineDigitalAll	bit mask (0x18): all line sensor

◆ eLineEnableMask

enum eLineEnableMask

clusters bit masks for the enable-flags of the line sensors

See also: line_get() and line_set()

Enumerator
kLineEnableNone	bit mask (0x00): enable no line sensors
kLineEnableFront	bit mask (0x01): enable front line sensors
kLineEnableMiddle	bit mask (0x02): enable middle line sensors
kLineEnableAll	bit mask (0x03): enable all line sensors

◆ eLineGet

enum eLineGet

clusters select values for reading data from the line sensors

See also: line_get() and eLineSet

Enumerator
kLineGetFrontLeft	constant (1): front left line sensor
kLineGetFrontMiddle	constant (2): front middle line sensor
kLineGetFrontRight	constant (3): front right line sensor
kLineGetMiddleLeft	constant (4): middle left line sensor
kLineGetMiddleRight	constant (5): middle right line sensor
kLineGetDigital	constant (6): bitfield of all line sensor
kLineGetEnable	constant (7): bitfield of enabled line sensor groups
kLineGetThreshold	constant (8): theshold value for converting to digital bitfield

◆ eLineSelectMask

enum eLineSelectMask

clusters bit masks for the requests of the line sensors

See also: line_request(), line_received() and line_changed()

Enumerator
kLineSelectNone	bit mask (0x00): select no data block
kLineSelectFront	bit mask (0x01): select the front line sensors see also sMD_SensLineF
kLineSelectMiddle	bit mask (0x02): select the middle line sensors see also sMD_SensLineM
kLineSelectDigital	bit mask (0x04): select the digital line sensors see also sMD_SensLineD
kLineSelectEnable	bit mask (0x08): select the enable flags and treshold value see also sMD_SensLineEnable only this data block can also be transmitted
kLineSelectAll	bit mask (0x0F): select all data blocks

◆ eLineSet

enum eLineSet

clusters select values for writing data to the line sensors

See also: line_set() and eLineGet

Enumerator
kLineSetEnable	constant (kLineGetEnable): bitfield of enabled line sensor groups
kLineSetThreshold	constant (kLineGetThreshold): theshold value for converting to digital bitfield

Function Documentation

◆ line_changed()

eLineSelectMask line_changed ( eLineSelectMask bitmask )

Indicates if new data changed the selected data blocks.

Parameters

bitmask bit mask of the selected data blocks - see also eLineSelectMask
The parameter is used to only return the value of the masked changed-bits. All other values(bits) are set to 0.

Returns: bitfield of the selected data blocks - see also eLineSelectMask
If a data block is changed its related bit will be 1, otherwise 0.
If only one data block is selected the return value can be interpreted as a boolean expression.

See also: line_received(), line_request(), line_get()

Examples: lineComplex.c, and lineSimple.c.

◆ line_get()

uint8_t line_get ( eLineGet select )

Returns the last stored version of the selected value.

This function relies on the internal data blocks sMD_SensLineF, sMD_SensLineM, sMD_SensLineD and sMD_SensLineEnable - for new data use line_request().

Parameters

select value of the selected data - see also eLineGet

Returns

8-bit unsigned integer

select	description	result
kLineGetFront... kLineGetMiddle...	analog measurement	0..255
kLineGetThreshold	threshold for analog measurement	0..255
kLineGetDigital	bitfield	eLineDigitalMask
kLineGetEnable	bitfield	eLineEnableMask

See also: line_request() and line_set()

Examples: lineComplex.c, and lineSimple.c.

◆ line_received()

eLineSelectMask line_received ( eLineSelectMask bitmask )

Indicates if new data for the selected data blocks were received.

Parameters

bitmask bit mask of the selected data blocks - see also eLineSelectMask
The parameter is used to only return the value of the masked received-bits. All other values(bits) are set to 0.

Returns: bitfield of the selected data blocks - see also eLineSelectMask
If a data block is received its related bit will be 1, otherwise 0.
If only one data block is selected the return value can be interpreted as a boolean expression.