From e076ef80732463e020ffd9cd93670b21094533c7 Mon Sep 17 00:00:00 2001
From: knolax <1339802534.kk@gmail.com>
Date: Wed, 18 Nov 2015 08:48:53 -0500
Subject: hid_open() doesn't wrk i used hid_open_path() nstead. Just wasted 5
 hours thinking only one hid could be open at a time and wondering why it
 still only opened one finch

---
 Finch.h | 143 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 143 insertions(+)
 create mode 100644 Finch.h

diff --git a/Finch.h b/Finch.h
new file mode 100644
index 0000000..05a6829
--- /dev/null
+++ b/Finch.h
@@ -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 */
-- 
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