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char
check_data_byte(
char
byte)
{
if
(is_data(byte))
return
0;
play(
"o3c"
);
clear();
print(
"Bad data"
);
lcd_goto_xy(0,1);
print_hex_byte(byte);
previous_byte();
return
1;
}
/////////////////////////////////////////////////////////////////////
// COMMAND FUNCTIONS
//
// Each function in this section corresponds to a single serial
// command.
The functions are expected to do their own argument
// handling using read_next_byte() and check_data_byte().
// Sends the version of the slave code that is running.
// This function also shuts down the motors and disables PID, so it is
// useful as an initial command.
void
send_signature()
{
serial_send_blocking(
"3pi1.0"
, 6);
set_motors(0,0);
pid_enabled = 0;
}
// Reads the line sensors and sends their values.
This function can
// do either calibrated or uncalibrated readings.
When doing calibrated readings,
// it only performs a new reading if we are not in PID mode.
Otherwise, it sends
// the most recent result immediately.
void
send_sensor_values(
char
calibrated)
{
if
(calibrated)
{
if
(!pid_enabled)
read_line_sensors_calibrated(sensors, IR_EMITTERS_ON);
}
else
read_line_sensors(sensors, IR_EMITTERS_ON);
serial_send_blocking((
char
*)sensors, 10);
}
// Sends the raw (uncalibrated) sensor values.
void
send_raw_sensor_values()
{
send_sensor_values(0);
}
// Sends the calibated sensor values.
void
send_calibrated_sensor_values()
{
send_sensor_values(1);
}
// Computes the position of a black line using the read_line()
Pololu 3pi Robot User’s Guide
© 2001–2019 Pololu Corporation
10. Expansion Information
Page 70 of 85
