diff options
| -rw-r--r-- | Finch.c | 3 | ||||
| -rw-r--r-- | Finch.h | 143 | ||||
| -rw-r--r-- | README.md | 5 | ||||
| -rwxr-xr-x | main | bin | 15260 -> 15264 bytes |
4 files changed, 145 insertions, 6 deletions
@@ -145,10 +145,11 @@ int Fin_Init(void) // with a VID of 2354 (Hex) and a PID of 1111 (Hex)
//takes the result of enumerate and gets device objects for them
while (temphidptr != NULL) {
- finch_handle[finchnum] = hid_open(0x2354, 0x1111, (*temphidptr).serial_number);
+ finch_handle[finchnum] = hid_open_path( (*temphidptr).path);
temphidptr = (*temphidptr).next;
finchnum = finchnum + 1;
}
+
if (finch_handle == 0)
{
// failure...
@@ -0,0 +1,143 @@ +#ifndef FINCH_H
+#define FINCH_H
+
+/** Sets the API for use with Mac or Linux, comment out if using Windows */
+#define _LINUX_
+
+/** If using Linux/Mac, redefines sleep to match that OS call */
+#ifdef _LINUX_
+#define Sleep(mm) usleep(mm*1000)
+#endif
+
+/**
+ * Fin_init(void).
+ * Initializes the interface to the finch robot and
+ * launches a background thread to prevent the finch from timing out.
+ * MUST be called prior to all other finch functions
+ *
+ * @return -1 if failure
+ */
+int Fin_Init(void);
+
+/**
+ * Fin_Exit(void).
+ * Sends Finch back to idle mode and
+ * closes the connection.
+ *
+ * @return -1 if failure
+ */
+int Fin_Exit(void);
+
+/**
+ * Fin_Motor(tenth, left, right).
+ * Set the speed (and duration) of the wheels.
+ * Use 0,0,0 to stop. To set the wheels to spin continuously,
+ * set tenth to -1. This function does not block further program
+ * execution. Use Fin_Move for that.
+ *
+ * @param tenth motor on time (in tenths of a second)
+ * @param left speed of left wheel (-255 to 255)
+ * @param right speed of right wheel (-255 to 255)
+ *
+ * @return -1 if failure
+ */
+int Fin_Motor(int tenth, int left, int right);
+
+/** Fin_Move(tenth, left, right).
+ * Set the speed (and duration) of the wheels, and block the program
+ * from further execution until time is up. Useful for dancing programs.
+ *
+ * @param tenth motor on time (in tenths of a second)
+ * @param left speed of left wheel (-255 to 255)
+ * @param right speed of right wheel (-255 to 255)
+ *
+ * @return -1 if failure
+ */
+int Fin_Move( int tenth, int left, int right );
+
+/**
+ * Fin_Speed(*left, *right).
+ * Get the current speed of the wheels.
+ *
+ * @param *left pointer to return speed of left wheel
+ * @param *right pointer to return speed of right wheel
+ * @return -1 if failure
+ */
+int Fin_Speed(int *left, int *right);
+
+/**
+ * Fin_LED(red, green, blue).
+ * Set the color and intensity of the beak LED
+ *
+ * @param red intensity of the red portion of the beak LED (0-255, 0 is off)
+ * @param green intensity of the green portion of the beak LED (0-255, 0 is off)
+ * @param blue intensity of the blue portion of the beak LED (0-255, 0 is off)
+ *
+ * @return -1 if failure
+ */
+int Fin_LED(int red, int green, int blue);
+
+/**
+ * Fin_Buzzer(msec, freq).
+ * Turn on the buzzer.
+ * Use 0,0 to turn the buzzer off
+ *
+ * @param msec duration in msecs
+ * @param freq frequency in hz
+ *
+ * @return -1 if failure
+ */
+int Fin_Buzzer(int msec,int freq);
+
+/**
+ * Fin_Lights(*left, *right).
+ * Get light sensor data. Returned values range from 255 to 0 (0=dark)
+ *
+ * @param *left pointer for left light sensor data
+ * @param *right pointer for right light sensor data
+ *
+ * @return -1 if failure
+ */
+int Fin_Lights(int *left, int *right);
+
+/**
+ * Fin_Obstacle(*left, *right).
+ * Get obstacle sensor data. Returned value is 1 or 0 (0=no obstacle).
+ *
+ * @param *left pointer for left obstacle sensor data
+ * @param *right pointer for right obstacle sensor data
+ *
+ * @return -1 if failure
+ */
+int Fin_Obstacle(int *left, int *right);
+
+/**
+ * Fin_Temp(*temp).
+ * Get temperature sensor data
+ *
+ * @param *temp pointer to return the temperature; returned value is in celsius (in 1/1000 units)
+ *
+ * @return -1 if failure
+ */
+int Fin_Temp(float *temp);
+
+/**
+ * Fin_Accel(*x, *y, *z, *tap, *shake).
+ * Get acceleration values and tap/shaken flags. Returned acceleration values are in 'g' (in 1/1000 units) and range from +1.5 to -1.5g.
+ *
+ * @param *x pointer for the x-axis acceleration
+ * @param *z pointer for the y-axis acceleration
+ * @param *y pointer for the z-axis acceleration
+ * @param *tap pointer to return the tap flag (0 = not tap)
+ * @param *shaken pointer to return the shaken flag (0 = not shaken)
+ *
+ * @return -1 if failure
+ */
+int Fin_Accel(float *x, float *y, float *z,int *tap, int *shake);
+
+
+#ifdef _LINUX_
+int kbhit(void);
+#endif
+
+#endif /* FINCH_H */
diff --git a/README.md b/README.md deleted file mode 100644 index a5bb44f..0000000 --- a/README.md +++ /dev/null @@ -1,5 +0,0 @@ -Two new funchtions finchmaxnum() and finchswitch have been added to find the maximum number of finches and switch finches. -The makefile compiles main.c in arch linux with the hidapi package installed, it is NOT called hidapi32 as the website suggests but hidapi-libusb. -The main program has been modified so that pressing C will allow you to switch the finchbot with finchswitch(). -So far the program still works when 1 finch is connected. -A compiled version of main for i686 archetecture arch linux is included, you need root permisions to run. Binary files differ |