Pololu 3pi Robot - Manual (Page 58)

// character, and character 255 (a full black box), we get 10
// characters in the array.
// The variable c will have values from 0 to 9, since
// values are in the range of 0 to 1000, and 1000/101 is 9
// with integer math.
char c = bar_graph_characters[sensors[i]/101];
// Display the bar graph characters.
print_character(c);
}
}
// set the motor speeds
void slave_set_motors(int speed1, int speed2)
{
char message[4] = {0xC1, speed1, 0xC5, speed2};
if(speed1 < 0)
{
message[0] = 0xC2; // m1 backward
message[1] = -speed1;
}
if(speed2 < 0)
{
message[2] = 0xC6; // m2 backward
message[3] = -speed2;
}
serial_send_blocking(message,4);
}
// do calibration
void slave_calibrate()
{
serial_send("\xB4",1);
int tmp_buffer[5];
// read 10 characters (but we won't use them)
serial_receive_blocking((char *)tmp_buffer, 10, 100);
}
// reset calibration
void slave_reset_calibration()
{
serial_send_blocking("\xB5",1);
}
// calibrate (waits for a 1-byte response to indicate completion)
void slave_auto_calibrate()
{
int tmp_buffer[1];
serial_send_blocking("\xBA",1);
serial_receive_blocking((char *)tmp_buffer, 1, 10000);
}
// sets up the pid constants on the 3pi for line following
void slave_set_pid(char max_speed, char p_num, char p_den, char d_num, char d_den)
{
char string[6] = "\xBB";
string[1] = max_speed;
string[2] = p_num;
string[3] = p_den;
string[4] = d_num;
string[5] = d_den;
serial_send_blocking(string,6);
}
// stops the pid line following
void slave_stop_pid()
{
serial_send_blocking("\xBC", 1);
}
// clear the slave LCD
void slave_clear()
{
serial_send_blocking("\xB7",1);
}
Pololu 3pi Robot User's Guide © 2001–2014 Pololu Corporation
10. Expansion Information Page 58 of 63