\begin{flushleft} {\small \verb%interface.c(3) interface.c(3)%\\ \verb%%\\ \verb%%\\ \verb%%\\ \verb%%{\large NAME}\verb%%\\ \verb% interface.c - Implementation of an example interface to a%\\ \verb% simple robot with two independent axies.%\\ \verb%%\\ \verb%%{\large SYNOPSIS}\verb%%\\ \verb% #include %\\ \verb% #include %\\ \verb% #include %\\ \verb% #include %\\ \verb% #include %\\ \verb% #include %\\ \verb%%\\ \verb%%\\ \verb% %{\large Defines}\verb%%\\ \verb% #define %{\large interface\_ymax\_time}\verb% 20000%\\ \verb% %\underline{\tt Time it rakes to drive to robot form y}\verb%%{\large \_}\verb%%\underline{\tt min to y}\verb%%{\large \_}\verb%%\underline{\tt max.}\verb%%\\ \verb% #define %{\large interface\_xmax\_time}\verb% 20000%\\ \verb% %\underline{\tt Time it rakes to drive to robot form x}\verb%%{\large \_}\verb%%\underline{\tt min to x}\verb%%{\large \_}\verb%%\underline{\tt max.}\verb%%\\ \verb% #define %{\large interface\_ymax}\verb% 100%\\ \verb% %\underline{\tt Maximal Y value (cosidered as 100 percent).}\verb%%\\ \verb% #define %{\large interface\_xmax}\verb% 100%\\ \verb% %\underline{\tt Maximal X value (cosidered as 100 percent).}\verb%%\\ \verb% #define %{\large interface\_ioport}\verb% 0x378%\\ \verb% %\underline{\tt IO Port to which lowest nible to robot is connected.}\verb%%\\ \verb%%\\ \verb% %{\large Functions}\verb%%\\ \verb% unsigned char %{\large input }\verb%(int addr)%\\ \verb% %\underline{\tt Read a byte from an IO port.}\verb%%\\ \verb% unsigned char %{\large output }\verb%(int addr, unsigned char out)%\\ \verb% %\underline{\tt Write a byte to an IO port.}\verb%%\\ \verb% void %{\large msleep }\verb%(int msec)%\\ \verb% %\underline{\tt Wait a specified number of milliseconds.}\verb%%\\ \verb% int %{\large getmax }\verb%(int a, int b)%\\ \verb% %\underline{\tt Get to highest number out of two input numbers.}\verb%%\\ \verb% int %{\large getmin }\verb%(int a, int b)%\\ \verb% %\underline{\tt Get to lowest number out of two input numbers.}\verb%%\\ \verb% void %{\large interface\_drive }\verb%(int h, int v)%\\ \verb% %\underline{\tt Drive the robot in a specified direction.}\verb%%\\ \verb% void %{\large interface\_init }\verb%(int mode)%\\ \verb% %\underline{\tt Initialze the interface and drive the robot to the}\verb%%\\ \verb% %\underline{\tt start position.}\verb%%\\ \verb% void %{\large interface\_driveto }\verb%(int x, int y)%\\ \verb% %\underline{\tt Drive to robot to absolute coordinates.}\verb%%\\ \verb% void %{\large interface\_stop }\verb%()%\\ \verb% %\underline{\tt Stop the interface, switch all off.}\verb%%\\ \verb%%\\ \verb% %{\large Variables}\verb%%\\ \verb% int %{\large interface\_x}\verb%%\\ \verb% %\underline{\tt current X possition of robot (global).}\verb%%\\ \verb% int %{\large interface\_y}\verb%%\\ \verb% %\underline{\tt current X possition of robot (global).}\verb%%\\ \verb% int %{\large interface\_mode}\verb%%\\ \verb% %\underline{\tt mode of interface: 0: normal, 1: simulation (do all}\verb%%\\ \verb% %\underline{\tt except to drive the robot), 2: simulation with}\verb%%\\ \verb% %\underline{\tt position-output 3: Blocked: Do nothing.}\verb%%\\ \verb%%\\ \verb%%{\large DETAILED DESCRIPTION}\verb%%\\ \verb% Implementation of an example interface to a simple robot%\\ \verb% with two independent axies.%\\ \verb%%\\ \verb% The robot has four inputs whish are connected to the lower%\\ \verb% nible on IO port 'interface_ioport'. The bits are%\\ \verb% connected in this way (the signals a high-active):%\\ \verb%%\\ \verb% Bit 0: Drive Up wires: switch to GND: yellow-green; +24V:%\\ \verb% gray-black%\\ \verb%%\\ \verb% Bit 1: Dirve down wires: switch to GND: red-green; +24V:%\\ \verb% orange-black%\\ \verb%%\\ \verb% Bit 2: Dirve right wires: switch to GND: green-red; +24V:%\\ \verb% yellow-black%\\ \verb%%\\ \verb% Bit 3: Dirve left wires: switch to GND: white-red; +24V:%\\ \verb% red-blue%\\ \verb%%\\ \verb% power wires: GND: blue; +24V: red%\\ \verb%%\\ \verb% This interface assumes a linear dependency betwenn the%\\ \verb% coverence of distance and moving time. The 0,0 coordinates%\\ \verb% is left,bottom.%\\ \verb%%\\ \verb% User functions are:%\\ \verb%%\\ \verb% %{\large interface\_init}\verb%() - Initialze the interface and drive the%\\ \verb% robot to the start position (X=undefined; Y=0).%\\ \verb%%\\ \verb% %{\large interface\_driveto}\verb%(int x, int y) - Drive the robot to the%\\ \verb% absolute coordinates x,y.%\\ \verb%%\\ \verb%%\\ \verb%%{\large DEFINE DOCUMENTATION}\verb%%\\ \verb% %{\large #define interface\_ioport}\verb% %{\large 0x378}\verb%%\\ \verb% IO Port to which lowest nible to robot is connected.%\\ \verb%%\\ \verb%%\\ \verb% %{\large #define interface\_xmax}\verb% %{\large 100}\verb%%\\ \verb% Maximal X value (cosidered as 100 percent).%\\ \verb%%\\ \verb%%\\ \verb% %{\large #define interface\_xmax\_time}\verb% %{\large 20000}\verb%%\\ \verb% Time it rakes to drive to robot form x_min to x_max.%\\ \verb%%\\ \verb%%\\ \verb% %{\large #define interface\_ymax}\verb% %{\large 100}\verb%%\\ \verb% Maximal Y value (cosidered as 100 percent).%\\ \verb%%\\ \verb%%\\ \verb% %{\large #define interface\_ymax\_time}\verb% %{\large 20000}\verb%%\\ \verb% Time it rakes to drive to robot form y_min to y_max.%\\ \verb%%\\ \verb%%\\ \verb%%{\large FUNCTION DOCUMENTATION}\verb%%\\ \verb% %{\large int getmax (int a, int b)}\verb%%\\ \verb% Get to highest number out of two input numbers.%\\ \verb%%\\ \verb% Parameters:%\\ \verb%%\\ \verb% %\underline{\tt a}\verb% (int) first input number%\\ \verb%%\\ \verb% %\underline{\tt b}\verb% (int) second input number%\\ \verb%%\\ \verb% %{\large Returns:}\verb%%\\ \verb% (int) the highest of the input numbers%\\ \verb%%\\ \verb% %{\large int getmin (int a, int b)}\verb%%\\ \verb% Get to lowest number out of two input numbers.%\\ \verb%%\\ \verb% Parameters:%\\ \verb%%\\ \verb% %\underline{\tt a}\verb% (int) first input number%\\ \verb%%\\ \verb% %\underline{\tt b}\verb% (int) second input number%\\ \verb%%\\ \verb% %{\large Returns:}\verb%%\\ \verb% (int) the lowest of the input numbers%\\ \verb%%\\ \verb% %{\large unsigned char input (int addr)}\verb%%\\ \verb% Read a byte from an IO port.%\\ \verb%%\\ \verb% Parameters:%\\ \verb%%\\ \verb% %\underline{\tt addr}\verb% (int): address of port to read%\\ \verb%%\\ \verb% %{\large Returns:}\verb%%\\ \verb% (unsigned char) read byte%\\ \verb%%\\ \verb% %{\large void interface\_drive (int h, int v)}\verb%%\\ \verb% Drive the robot in a specified direction.%\\ \verb%%\\ \verb% Any axies can be zero, greater than zero or less than%\\ \verb% zero, in this cases the robot will not driven, driven to%\\ \verb% increase to position (up[v,y] or right[h,x]) and decrease%\\ \verb% the position (down[-v,-y] or left[-h,-x]).%\\ \verb%%\\ \verb% Parameters:%\\ \verb%%\\ \verb% %\underline{\tt h}\verb% (int) horizontal or X axias.%\\ \verb%%\\ \verb% %\underline{\tt v}\verb% (int) vertical or Y axias.%\\ \verb%%\\ \verb% %{\large void interface\_driveto (int x, int y)}\verb%%\\ \verb% Drive to robot to absolute coordinates.%\\ \verb%%\\ \verb% Parameters:%\\ \verb%%\\ \verb% %\underline{\tt x}\verb% (int): absolute x coordinate%\\ \verb%%\\ \verb% %\underline{\tt y}\verb% (int): absolute y coordinate%\\ \verb%%\\ \verb% %{\large void interface\_init (int mode)}\verb%%\\ \verb% Initialze the interface and drive the robot to the start%\\ \verb% position.%\\ \verb%%\\ \verb%%\\ \verb% %{\large void interface\_stop ()}\verb%%\\ \verb% Stop the interface, switch all off.%\\ \verb%%\\ \verb%%\\ \verb% %{\large void msleep (int msec)}\verb%%\\ \verb% Wait a specified number of milliseconds.%\\ \verb%%\\ \verb% Parameters:%\\ \verb%%\\ \verb% %\underline{\tt msec}\verb% (int): milliseconds to wait%\\ \verb%%\\ \verb% %{\large unsigned char output (int addr, unsigned char out)}\verb%%\\ \verb% Write a byte to an IO port.%\\ \verb%%\\ \verb% Parameters:%\\ \verb%%\\ \verb% %\underline{\tt addr}\verb% (int): address of port to write onto%\\ \verb%%\\ \verb% %\underline{\tt out}\verb% (unsigned char): byte to write%\\ \verb%%\\ \verb% %{\large Returns:}\verb%%\\ \verb% (unsigned char) written byte%\\ \verb%%\\ \verb%%{\large VARIABLE DOCUMENTATION}\verb%%\\ \verb% %{\large int interface\_mode}\verb%%\\ \verb% mode of interface: 0: normal, 1: simulation (do all except%\\ \verb% to drive the robot), 2: simulation with position-output 3:%\\ \verb% Blocked: Do nothing.%\\ \verb%%\\ \verb%%\\ \verb% %{\large int interface\_x}\verb%%\\ \verb% current X possition of robot (global).%\\ \verb%%\\ \verb%%\\ \verb% %{\large int interface\_y}\verb%%\\ \verb% current X possition of robot (global).%\\ \verb%%\\ \verb%%\\ \verb%%{\large AUTHOR}\verb%%\\ \verb% Generated automatically by Doxygen for%\\ \verb% Hofmeier_FYP:libcomm from the source code.%\\ \verb%%\\ \verb%%\\ \verb%%\\ \verb%Hofmeier_FYP:libcomm 25 Apr 2005 interface.c(3)%\\ \verb%% } \end{flushleft}