bumper.h File Reference

#include "datatypes.h"
#include "t89c51cc02.h"

Go to the source code of this file.

Defines
#define	Bumper_activate()   P1_4=1
#define	Bumper_deactivate()   P1_4=0
#define	BUMPERSENSORS_NR   8
Functions
void	Bumper_init (void)
	initialize bumper control subsystem
void	Bumper_select (BYTE)
	select one of the outer bumper sensors for measurement
WORD	Bumper_read (BYTE)
	reads one of the perimeter bumper sensors

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Detailed Description

Definition in file bumper.h.

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Define Documentation

#define Bumper_activate (   )     P1_4=1

activates reading of Bumper sensors Definition at line 6 of file bumper.h. Referenced by Bumper_read().

#define Bumper_deactivate (   )     P1_4=0

deactivates reading of Bumper sensors Definition at line 8 of file bumper.h. Referenced by Bumper_init(), and Bumper_read().

#define BUMPERSENSORS_NR   8

number of available bumper sensors Definition at line 11 of file bumper.h. Referenced by main().

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Function Documentation

WORD Bumper_read (  BYTE  bumpernr  )

reads one of the perimeter bumper sensors A given bumper sensor is selected and then being read with the A/D converter. Parameters: bumpernr  the bumper to be read (0-7) Returns: the relative voltage reading of the specified bumper (+5V means no contact) Definition at line 57 of file bumper.c. References ADC(), Bumper_activate, Bumper_deactivate, and Bumper_select(). Referenced by main().

void Bumper_select (  BYTE  sensorid  )

select one of the outer bumper sensors for measurement A 74HCT237 decoder IC is used to select one of the bumpers. This function applies the sensor address to its A bus. The A Bus is connected to P2.0 P2.1 and P1.5 for A0 - A2. Parameters: sensorid  - number of the bumper to be read Definition at line 33 of file bumper.c. Referenced by Bumper_read().

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