Pololu 3pi Robot - Manual (Page 53)

int message[1];
unsigned int tmp_sensors[5];
int line_position;
if(pid_enabled)
line_position = last_proportional+2000;
else line_position = read_line(tmp_sensors, IR_EMITTERS_ON);
message[0] = line_position;
serial_send_blocking((char *)message, 2);
}
// Sends the trimpot value, 0-1023.
void send_trimpot()
{
int message[1];
message[0] = read_trimpot();
serial_send_blocking((char *)message, 2);
}
// Sends the batter voltage in millivolts
void send_battery_millivolts()
{
int message[1];
message[0] = read_battery_millivolts();
serial_send_blocking((char *)message, 2);
}
// Drives m1 forward.
void m1_forward()
{
char byte = read_next_byte();
if(check_data_byte(byte))
return;
set_m1_speed(byte == 127 ? 255 : byte*2);
}
// Drives m2 forward.
void m2_forward()
{
char byte = read_next_byte();
if(check_data_byte(byte))
return;
set_m2_speed(byte == 127 ? 255 : byte*2);
}
// Drives m1 backward.
void m1_backward()
{
char byte = read_next_byte();
if(check_data_byte(byte))
return;
set_m1_speed(byte == 127 ? -255 : -byte*2);
}
// Drives m2 backward.
void m2_backward()
{
char byte = read_next_byte();
if(check_data_byte(byte))
return;
set_m2_speed(byte == 127 ? -255 : -byte*2);
}
// A buffer to store the music that will play in the background.
char music_buffer[100];
// Plays a musical sequence.
Pololu 3pi Robot User's Guide © 2001–2014 Pololu Corporation
10. Expansion Information Page 53 of 63