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| #define | LS_NUM_SENSORS 8 |
| | Total number of sensors on QTR line sensor.
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| #define | DST_NUM_SENSORS 3 |
| | Total number of distance sensors.
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| #define | NUM_MOTORS 2 |
| | Total number of motors.
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| #define | LP_LEFT_BTN PUSH2 |
| | Represent the left push button on the launchpad.
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| #define | LP_RIGHT_BTN PUSH1 |
| | Represent the right push button on the launchpad.
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| #define | TOTAL_BP_SW 6 |
| | Total number of bump switches.
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| #define | LEFT_MOTOR 0 |
| | Can be used to reference the left motor in the below functions.
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| #define | RIGHT_MOTOR 1 |
| | Can be used to reference the right motor in the below functions.
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| #define | BOTH_MOTORS 2 |
| | Can be used to reference both motors in the below functions.
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| #define | LEFT_SHRP_DIST 0 |
| | Can be used to reference the left Sharp distance sensor.
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| #define | CENTER_SHRP_DIST 1 |
| | Can be used to reference the center Sharp distance sensor.
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| #define | RIGHT_SHRP_DIST 2 |
| | Can be used to reference the right Sharp distance sensor.
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| #define | MOTOR_DIR_FORWARD 0 |
| | Can be used to reference setting the motor function to forward.
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| #define | MOTOR_DIR_BACKWARD 1 |
| | Can be used to reference setting the motor function to backward.
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| #define | DARK_LINE 0 |
| | Used to specify that the robot is running on a floor lighter than the line.
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| #define | LIGHT_LINE 1 |
| | Used to specify that the robot is running on a floor darker than the line.
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| #define | readLineSensor readRawLineSensor |
| | Read line sensor values.
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| void | setupRSLK () |
| | Performs a variety of initialization needed for the RSLK.
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| uint16_t | readSharpDist (uint8_t num) |
| | Read distance sensor value.
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| int16_t | readSharpDistMM (uint8_t num) |
| | Read distance sensor value in millimeters.
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| float | readSharpDistIN (uint8_t num) |
| | Read distance sensor value in inches.
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| bool | isBumpSwitchPressed (uint8_t num) |
| | Return bump switch status.
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| uint8_t | getBumpSwitchPressed () |
| | Return mask of bump switch states.
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| void | enableMotor (uint8_t motorNum) |
| | Enable motor (take it out of sleep)
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| void | disableMotor (uint8_t motorNum) |
| | Disable motor (puts the motor to sleep)
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| void | pauseMotor (uint8_t motorNum) |
| | Pause motor (put the motor to sleep while saving its speed)
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| void | resumeMotor (uint8_t motorNum) |
| | Resume motor (take the motor out of sleep and resumes its prior speed)
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| void | setMotorDirection (uint8_t motorNum, uint8_t direction) |
| | Set direction the motor will turn.
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| void | setMotorSpeed (uint8_t motorNum, uint8_t speed) |
| | Set the motor speed.
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| void | setupWaitBtn (uint8_t btn) |
| | Configure pin as a wait to release button.
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| void | setupLed (uint8_t ledPin) |
| | Configure pin that is connected to an led.
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| void | waitBtnPressed (uint8_t btnPin, int8_t ledPin=0) |
| | Busy wait until user pushes and releases button.
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| void | calibrateLineSensor (uint8_t mode=DARK_LINE, uint32_t duration=500) |
| | Calibrates line sensor.
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| void | readCalLineSensor (uint16_t *calVal) |
| | Read calibrated line sensor values. Assumes calibration completed.
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| uint32_t | getLinePosition () |
| | Get line position.
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| void | readRawLineSensor (uint16_t *sensor) |
| | Read raw line sensor values.
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| void | clearMinMax (uint16_t *sensorMin, uint16_t *sensorMax) |
| | Provide default values for the sensor's Min and Max arrays.
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| void | setSensorMinMax (uint16_t *sensor, uint16_t *sensorMin, uint16_t *sensorMax) |
| | Update line sensor's min and max values array based on current data.
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| void | readCalLineSensor (uint16_t *sensor, uint16_t *calVal, uint16_t *sensorMin, uint16_t *sensorMax, uint8_t mode) |
| | Update sensor's min and max values array based on current data.
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| uint32_t | getLinePosition (uint16_t *calVal, uint8_t mode) |
| | Get line position.
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