Library for Texas Instrument's Robotic System Learning Kit

Macros
#define	LS_NUM_SENSORS   8
	Total number of sensors on QTR line sensor.
#define	DST_NUM_SENSORS   3
	Total number of distance sensors.
#define	NUM_MOTORS   2
	Total number of motors.
#define	LP_LEFT_BTN   PUSH2
	Represent the left push button on the launchpad.
#define	LP_RIGHT_BTN   PUSH1
	Represent the right push button on the launchpad.
#define	TOTAL_BP_SW   6
	Total number of bump switches.
#define	LEFT_MOTOR   0
	Can be used to reference the left motor in the below functions.
#define	RIGHT_MOTOR   1
	Can be used to reference the right motor in the below functions.
#define	BOTH_MOTORS   2
	Can be used to reference both motors in the below functions.
#define	LEFT_SHRP_DIST   0
	Can be used to reference the left Sharp distance sensor.
#define	CENTER_SHRP_DIST   1
	Can be used to reference the center Sharp distance sensor.
#define	RIGHT_SHRP_DIST   2
	Can be used to reference the right Sharp distance sensor.
#define	MOTOR_DIR_FORWARD   0
	Can be used to reference setting the motor function to forward.
#define	MOTOR_DIR_BACKWARD   1
	Can be used to reference setting the motor function to backward.
#define	DARK_LINE   0
	Used to specify that the robot is running on a floor lighter than the line.
#define	LIGHT_LINE   1
	Used to specify that the robot is running on a floor darker than the line.
#define	readLineSensor   readRawLineSensor
	Read line sensor values.

Functions
uint32_t	getEncoderLeftCnt ()
	Return number of encoder ticks from the left wheel.
uint32_t	getEncoderRightCnt ()
	Return number of encoder ticks from the right wheel.
void	resetLeftEncoderCnt ()
	Set the left encoder tick count to 0.
void	resetRightEncoderCnt ()
	Set the right encoder tick count to 0.
uint8_t	getLeftWheelDir ()
	Determines if the left wheel is going forward or backwards.
uint8_t	getRightWheelDir ()
	Determines if the right wheel is going forward or backwards.
void	setupRSLK ()
	Performs a variety of initialization needed for the RSLK.
uint16_t	readSharpDist (uint8_t num)
	Read distance sensor value.
int16_t	readSharpDistMM (uint8_t num)
	Read distance sensor value in millimeters.
float	readSharpDistIN (uint8_t num)
	Read distance sensor value in inches.
bool	isBumpSwitchPressed (uint8_t num)
	Return bump switch status.
uint8_t	getBumpSwitchPressed ()
	Return mask of bump switch states.
void	enableMotor (uint8_t motorNum)
	Enable motor (take it out of sleep)
void	disableMotor (uint8_t motorNum)
	Disable motor (puts the motor to sleep)
void	pauseMotor (uint8_t motorNum)
	Pause motor (put the motor to sleep while saving its speed)
void	resumeMotor (uint8_t motorNum)
	Resume motor (take the motor out of sleep and resumes its prior speed)
void	setMotorDirection (uint8_t motorNum, uint8_t direction)
	Set direction the motor will turn.
void	setMotorSpeed (uint8_t motorNum, uint8_t speed)
	Set the motor speed.
void	setupWaitBtn (uint8_t btn)
	Configure pin as a wait to release button.
void	setupLed (uint8_t ledPin)
	Configure pin that is connected to an led.
void	waitBtnPressed (uint8_t btnPin, int8_t ledPin=0)
	Busy wait until user pushes and releases button.
void	calibrateLineSensor (uint8_t mode=DARK_LINE, uint32_t duration=500)
	Calibrates line sensor.
void	readCalLineSensor (uint16_t *calVal)
	Read calibrated line sensor values. Assumes calibration completed.
uint32_t	getLinePosition ()
	Get line position.
void	readRawLineSensor (uint16_t *sensor)
	Read raw line sensor values.
void	clearMinMax (uint16_t *sensorMin, uint16_t *sensorMax)
	Provide default values for the sensor's Min and Max arrays.
void	setSensorMinMax (uint16_t *sensor, uint16_t *sensorMin, uint16_t *sensorMax)
	Update line sensor's min and max values array based on current data.
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.
uint32_t	getLinePosition (uint16_t *calVal, uint8_t mode)
	Get line position.

Detailed Description

Macro Definition Documentation

LS_NUM_SENSORS

#define LS_NUM_SENSORS   8

Total number of sensors on QTR line sensor.

Definition at line 19 of file SimpleRSLK.h.

DST_NUM_SENSORS

#define DST_NUM_SENSORS   3

Total number of distance sensors.

Definition at line 24 of file SimpleRSLK.h.

NUM_MOTORS

#define NUM_MOTORS   2

Total number of motors.

Definition at line 29 of file SimpleRSLK.h.

LP_LEFT_BTN

#define LP_LEFT_BTN   PUSH2

Represent the left push button on the launchpad.

Definition at line 34 of file SimpleRSLK.h.

LP_RIGHT_BTN

#define LP_RIGHT_BTN   PUSH1

Represent the right push button on the launchpad.

Definition at line 39 of file SimpleRSLK.h.

TOTAL_BP_SW

#define TOTAL_BP_SW   6

Total number of bump switches.

Definition at line 44 of file SimpleRSLK.h.

LEFT_MOTOR

#define LEFT_MOTOR   0

Can be used to reference the left motor in the below functions.

Definition at line 49 of file SimpleRSLK.h.

RIGHT_MOTOR

#define RIGHT_MOTOR   1

Can be used to reference the right motor in the below functions.

Definition at line 54 of file SimpleRSLK.h.

BOTH_MOTORS

#define BOTH_MOTORS   2

Can be used to reference both motors in the below functions.

Definition at line 59 of file SimpleRSLK.h.

LEFT_SHRP_DIST

#define LEFT_SHRP_DIST   0

Can be used to reference the left Sharp distance sensor.

Definition at line 64 of file SimpleRSLK.h.

CENTER_SHRP_DIST

#define CENTER_SHRP_DIST   1

Can be used to reference the center Sharp distance sensor.

Definition at line 69 of file SimpleRSLK.h.

RIGHT_SHRP_DIST

#define RIGHT_SHRP_DIST   2

Can be used to reference the right Sharp distance sensor.

Definition at line 74 of file SimpleRSLK.h.

MOTOR_DIR_FORWARD

#define MOTOR_DIR_FORWARD   0

Can be used to reference setting the motor function to forward.

Definition at line 79 of file SimpleRSLK.h.

MOTOR_DIR_BACKWARD

#define MOTOR_DIR_BACKWARD   1

Can be used to reference setting the motor function to backward.

Definition at line 84 of file SimpleRSLK.h.

DARK_LINE

#define DARK_LINE   0

Used to specify that the robot is running on a floor lighter than the line.

Definition at line 89 of file SimpleRSLK.h.

LIGHT_LINE

#define LIGHT_LINE   1

Used to specify that the robot is running on a floor darker than the line.

Definition at line 94 of file SimpleRSLK.h.

readLineSensor

#define readLineSensor   readRawLineSensor

Read line sensor values.

Deprecated:

Method deprecated since 0.2.2. Use readRawLineSensor instead. Method still used internally and retained for compatibility.

Parameters

[out]

sensor

array that stores values read from line sensor. Must pass an array with 8 elements. Array index 0 represents the left most sensor. Array index 7 represents the right most sensor. Each index will contain a value from 0 - 2500. 0 max reflection (light line) ... 2500 no reflection (dark line)

Read and store sensor values in the passed in array.

Definition at line 335 of file SimpleRSLK.h.

Function Documentation

getEncoderLeftCnt()

uint32_t getEncoderLeftCnt

(

)

Return number of encoder ticks from the left wheel.

Returns

The number of encoder ticks from the left wheel.

Definition at line 56 of file Encoder.cpp.

getEncoderRightCnt()

uint32_t getEncoderRightCnt

(

)

Return number of encoder ticks from the right wheel.

Returns

The number of encoder ticks from the right wheel.

Definition at line 51 of file Encoder.cpp.

resetLeftEncoderCnt()

void resetLeftEncoderCnt

(

)

Set the left encoder tick count to 0.

Definition at line 61 of file Encoder.cpp.

resetRightEncoderCnt()

void resetRightEncoderCnt

(

)

Set the right encoder tick count to 0.

Definition at line 66 of file Encoder.cpp.

getLeftWheelDir()

uint8_t getLeftWheelDir

(

)

Determines if the left wheel is going forward or backwards.

Returns

1 for forward or 0 for backwards

Definition at line 71 of file Encoder.cpp.

getRightWheelDir()

uint8_t getRightWheelDir

(

)

Determines if the right wheel is going forward or backwards.

Returns

1 for forward or 0 for backwards

Definition at line 75 of file Encoder.cpp.

setupRSLK()

void setupRSLK

(

)

Performs a variety of initialization needed for the RSLK.

This function must be called before calling any other functions listed on this page.

Definition at line 15 of file SimpleRSLK.cpp.

readSharpDist()

uint16_t readSharpDist

(

uint8_t

num

)

Read distance sensor value.

Parameters

[in]

num

of the distance sensor to read. Valid values are 0 - 2. Representing the 3 RSLK's sensors that can be mounted on the RSLK (on top of the bump switch assembly). 0 (LEFT_SHRP_DIST) for the left sensor. 1 (CENTER_SHRP_DIST) for the center sensor. 2 (RIGHT_SHRP_DIST) for the right sensor.

Returns

A value from 0 - 4065.

• 0 represents object right infront of sensor
  ....
• 4065 represents no object detected

Definition at line 45 of file SimpleRSLK.cpp.

readSharpDistMM()

int16_t readSharpDistMM

(

uint8_t

num

)

Read distance sensor value in millimeters.

This function returns a value representing the distance an object is from the sensor in millimeters. Range is 100 to 800 mm.

Parameters

[in]

num

of the distance sensor to read. Valid values are 0 - 2. Representing the 3 RSLK's sensors that can be mounted on the RSLK (on top of the bump switch assembly). 0 (LEFT_SHRP_DIST) for the left sensor. 1 (CENTER_SHRP_DIST) for the center sensor. 2 (RIGHT_SHRP_DIST) for the right sensor.

Returns

distance in millimeters (-1 if no object detected).

Definition at line 53 of file SimpleRSLK.cpp.

readSharpDistIN()

float readSharpDistIN

(

uint8_t

num

)

Read distance sensor value in inches.

This function returns a value representing the distance an object is from the sensor in inches. Range is ~4 to 31 inches.

Parameters

[in]

num

of the distance sensor to read. Valid values are 0 - 2. Representing the 3 RSLK's sensors that can be mounted on the RSLK (on top of the bump switch assembly). 0 (LEFT_SHRP_DIST) for the left sensor. 1 (CENTER_SHRP_DIST) for the center sensor. 2 (RIGHT_SHRP_DIST) for the right sensor.

Returns

distance in inches (-1 if no object detected).

Definition at line 61 of file SimpleRSLK.cpp.

isBumpSwitchPressed()

bool isBumpSwitchPressed

(

uint8_t

num

)

Return bump switch status.

Parameters

[in]

num

bump switch number. Valid values are 0 - 5 representing the RSLK's 6 bump switches. 0 for left most switch. ... 5 for right most switch.

Returns

• true if switch is pressed
• false if switch isn't pressed.

Definition at line 69 of file SimpleRSLK.cpp.

getBumpSwitchPressed()

uint8_t getBumpSwitchPressed

(

)

Return mask of bump switch states.

Returns mask representing state of the RSLK's 6 bump switches.

Returns

mask of bump switch states (0 if switch not pressed, 1 if switch pressed)

• bit 0 represents left most bump switch (BP_SW_PIN_0)
  ...
• bit 5 represents right most bump switch (BP_SW_PIN_5)

Definition at line 80 of file SimpleRSLK.cpp.

enableMotor()

void enableMotor

(

uint8_t

motorNum

)

Enable motor (take it out of sleep)

Takes the motor out of sleep. The motor will not move unless you also call setMotorSpeed.

Parameters

[in]

motorNum

that designates the the motor. Valid values are 0 - 2. 0 for left motor 1 for right motor 2 for both motors

Definition at line 91 of file SimpleRSLK.cpp.

disableMotor()

void disableMotor

(

uint8_t

motorNum

)

Disable motor (puts the motor to sleep)

Disabling the motor sets its speed to 0 and puts it to sleep.

Parameters

[in]

motorNum

that designates the the motor. Valid values are 0 - 2. 0 for left motor 1 for right motor 2 for both motors

Definition at line 102 of file SimpleRSLK.cpp.

pauseMotor()

void pauseMotor

(

uint8_t

motorNum

)

Pause motor (put the motor to sleep while saving its speed)

Puts the motor to sleep while also preserving the previously set motor speed.

Parameters

[in]

motorNum

that designates the the motor. Valid values are 0-2. 0 for left motor 1 for right motor 2 for both motors

Definition at line 113 of file SimpleRSLK.cpp.

resumeMotor()

void resumeMotor

(

uint8_t

motorNum

)

Resume motor (take the motor out of sleep and resumes its prior speed)

Take the motor out of sleep and sets its speed to its prior value.

Parameters

[in]

motorNum

that designates the the motor. Valid values are 0-2. 0 for left motor 1 for right motor 2 for both motors

Definition at line 124 of file SimpleRSLK.cpp.

setMotorDirection()

void setMotorDirection	(	uint8_t	motorNum,
		uint8_t	direction
	)

Set direction the motor will turn.

Specifies the motor's direction. Can control an indivdual motor or both motors.

Parameters

[in]	motorNum	that designates the the motor. Valid values are 0-2. 0 for left motor 1 for right motor 2 for both motors
[in]	direction	that specifies the motor's direction 0 for forward 1 for for backward

Definition at line 135 of file SimpleRSLK.cpp.

setMotorSpeed()

void setMotorSpeed	(	uint8_t	motorNum,
		uint8_t	speed
	)

Set the motor speed.

Sets the speed of the motor. A value of 0 means no movement. 100 will set the motor to its fastest speed.

Parameters

[in]	motorNum	that designates the the motor. Valid values are 0-2. 0 for left motor 1 for right motor 2 for both motors
[in]	speed	that specifies the motor speed. Valid values are 0 - 100. 0 for 0% of motor speed. ... 100 for 100% of motor speed.

Definition at line 154 of file SimpleRSLK.cpp.

setupWaitBtn()

void setupWaitBtn

(

uint8_t

btn

)

Configure pin as a wait to release button.

Configure pin to be used as a wait until pushed and released button. Useful if you want to halt the robot's operation until the uses pushes and then releases the button.

Parameters

[in]

btn

the Launchpad pin number you want to use.

Definition at line 266 of file SimpleRSLK.cpp.

setupLed()

void setupLed

(

uint8_t

ledPin

)

Configure pin that is connected to an led.

Configure pin to be used for as an led.

Parameters

[in]

ledPin

the Launchpad pin number you want to use.

Definition at line 271 of file SimpleRSLK.cpp.

waitBtnPressed()

void waitBtnPressed	(	uint8_t	btnPin,
		int8_t	ledPin = 0
	)

Busy wait until user pushes and releases button.

Prevent additional code from executing until use has pushed and released specified button.

Parameters

[in]	btnPin	the Launchpad pin number you want to use.
[in]	ledPin	represents the pin to toggle high and low while waiting for btn to be pressed.

Definition at line 276 of file SimpleRSLK.cpp.

calibrateLineSensor()

void calibrateLineSensor	(	uint8_t	mode = DARK_LINE,
		uint32_t	duration = 500
	)

Calibrates line sensor.

Calibrates line sensor by identifying min/max sensor range of non-line surface. Sensors SHOULD NOT be positioned over line while calibrating (i.e. calibrate to background surface color).

Parameters

[in]	mode	determines if the line is dark or light (default is DARK_LINE) 0 (DARK_LINE) is used when the line is darker than the floor 1 (LIGHT_LINE) is used when the line is lighter than the floor.
[in]	duration	duration for calibration in milliseconds (default is 500)

Definition at line 189 of file SimpleRSLK.cpp.

readCalLineSensor() [1/2]

void readCalLineSensor

(

uint16_t *

calVal

)

Read calibrated line sensor values. Assumes calibration completed.

Takes the current line sensor values and sets calVal to the calibrated values. Assumes calibrateLineSensor() has already been called (only necessary to calibrate once).

Parameters

[out]

calVal

is an array that will be filled with the calibrated values based on the sensor. Elements will be filled with values of 0 - 1000 0 means no line detected ... 1000 means line is detected right under sensor.

Note

Calibration:

• When the line is dark then calibration subtracts sensorMax values from the sensor value read.
• When the line is light then calibration subtracts sensorMin values from the sensor value read. Then the value is subtracted from 1000 to provide a consistent scale.

Definition at line 201 of file SimpleRSLK.cpp.

getLinePosition() [1/2]

uint32_t getLinePosition

(

)

Get line position.

Provides a numerical value indicating where the robot is detecting the line. Assumes calibrateLineSensor() has already been called (only necessary to calibrate once).

Returns

value between 0 - 8000.

• 0 no line detected
  ...
• 1000 line is directly on the left most sensor
  ...
• 4500 line directly over two middle sensors.
  ...
• 8000 line is under right most line sensor

Definition at line 227 of file SimpleRSLK.cpp.

readRawLineSensor()

void readRawLineSensor

(

uint16_t *

sensor

)

Read raw line sensor values.

Read and store raw line sensor values in the passed in array.

Parameters

[out]

sensor

array that stores values read from line sensor. Must pass an array with 8 elements. Array index 0 represents the left most sensor. Array index 7 represents the right most sensor. Each index will contain a value from 0 - 2500. 0 max reflection (light line) ... 2500 no reflection (dark line)

Definition at line 176 of file SimpleRSLK.cpp.

clearMinMax()

void clearMinMax	(	uint16_t *	sensorMin,
		uint16_t *	sensorMax
	)

Provide default values for the sensor's Min and Max arrays.

Deprecated:

Method deprecated since 0.2.2. Method still used internally and retained for compatibility.

Parameters

[out]	sensorMin	stores sensor's min values. Must pass an array with 8 elements. All elements will by default be given a large value.
[out]	sensorMax	stores sensor's max values. Must pass an array with 8 elements. All elements will by default be given a value of 0.

Initializes arrays to be used to store line sensor's min and max values.

Definition at line 181 of file SimpleRSLK.cpp.

setSensorMinMax()

void setSensorMinMax	(	uint16_t *	sensor,
		uint16_t *	sensorMin,
		uint16_t *	sensorMax
	)

Update line sensor's min and max values array based on current data.

Deprecated:

Method deprecated since 0.2.2. Method still used internally and retained for compatibility.

Parameters

[in]	sensor	is an array filled with line sensor values previously filled by readLineSensor.
[out]	sensorMin	stores sensor's min values.
[out]	sensorMax	stores sensor's max values.

Take the current line sensor values and update min and max values. This function along with the min and max arrays are useful when performing calibration.

Definition at line 254 of file SimpleRSLK.cpp.

readCalLineSensor() [2/2]

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.

Deprecated:

Method deprecated since 0.2.2. Use readCalLineSensor(uint16_t*) instead. Method still used internally and retained for compatibility.

Parameters

[out]	sensor	is an array to be filled with line sensor values.
[out]	calVal	is an array that will be filled with the calibrated values based on the sensor, sensorMin and sensorMax array. Elements will be filled with values of 0 - 1000 0 means no line detected ... 1000 means line is detected right under sensor.
[in]	sensorMin	stores sensor's min values.
[in]	sensorMax	stores sensor's max values.
[in]	mode	determines if the line is dark or light. 0 is used when the line is darker than the floor 1 is used when the line is lighter than the floor.

Takes the current line sensor values and sets calVal to the calibrated values. Uses sensorMin and sensorMax array along with mode to calibrate value.

Calibration:

• When the line is dark then calibration subtracts sensorMax values from the sensor value read.
• When the line is light then calibration subtracts sensorMin values from the sensor value read. Then the value is subtracted from 1000 to provide a consistent scale.

Definition at line 208 of file SimpleRSLK.cpp.

getLinePosition() [2/2]

uint32_t getLinePosition	(	uint16_t *	calVal,
		uint8_t	mode
	)

Get line position.

Deprecated:

Method deprecated since 0.2.2. Use getLinePosition() instead. Method still used internally and retained for compatibility.

Parameters

[in]	calVal	is an array that is filled with the line sensor calibrated values.
[in]	mode	determines if the line is dark or light. 0 is used when the line is darker than the floor 1 is used when the line is lighter than the floor.

Returns

value between 0 - 8000.

• 0 no line detected
  ...
• 1000 line is directly on the left most sensor
  ...
• 4500 line directly over two middle sensors.
  ...
• 8000 line is under right most line sensor

Using calibrated line sensor value this function provides a numerical value indicating where the robot is detecting the line. This function can be overridden.

Definition at line 233 of file SimpleRSLK.cpp.