3. API: Enum Definition

These are the definition for the enumeration used in the API functions.

EM_ERROR

Error code returned from the external module API:

typedef enum __attribute__((packed)) {

    EM_NO_ERROR             = 0x0000,

    EM_ERR_INPUT_VOLTAGE    = 0x0001,
    EM_ERR_ANGLE_LIMIT      = 0x0002,
    EM_ERR_OVERHEATING      = 0x0004,

    EM_ERR_TX_CHECKSUM      = 0x0010,
    EM_ERR_OVERLOAD         = 0x0020,
    EM_ERR_INSTRUCTION      = 0x0040,

    EM_ERR_RX_TIMEOUT       = 0x0100,
    EM_ERR_RX_HEADER        = 0x0200,
    EM_ERR_RX_ID            = 0x0400,
    EM_ERR_RX_CHECKSUM      = 0x0800,

    EM_ERR_TX_BUSY          = 0x1000,

    EM_ERR_INVALID_MODULE   = 0x2000

} EM_ERROR;

EM_MODEL

External module model.

typedef enum __attribute__((packed)) {
    EM_MODEL_NONE,                  // None.
    EM_MODEL_IMU,                   // Althought IMU is not an external module, we put it here for easier grouping.
    EM_MODEL_G15        = 0x470f,   // G15.
    EM_MODEL_IR         = 0x4952,   // Infrared sensor.
    EM_MODEL_US         = 0x5553,   // Ultrasonic sensor.
    EM_MODEL_HEAD       = 0x484d,   // Head Module.
    EM_MODEL_HM_MIC,                // Microphone on head module.
    EM_MODEL_HM_IR,                 // Infrared sensor on head module.
    EM_MODEL_TACTILE    = 0x5453,   // Tactile sensor.
    EM_MODEL_COLOUR     = 0x4353,   // Colour sensor.
    EM_MODEL_LINE       = 0x4c53    // Line sensor.
} EM_MODEL;

EM_WRITE_MODE

Write mode.

typedef enum __attribute__((packed)) {
    WRITE_NOW   = 0x00,     // Write to control table immediately.
    WAIT_ACTION = 0x01      // Write to temporary register and wait for action command.
} EM_WRITE_MODE;

G15_POSITIONING_MODE

G15 Position Control Mode.

typedef enum __attribute__((packed)) {
    NORMAL_POSITIONING          = 0x0000,
    DIRECTION_POSITIONING_CCW   = 0x8000,
    DIRECTION_POSITIONING_CW    = 0xc000
} G15_POSITIONING_MODE;

G15_SPEED_CONTROL_MODE

G15 Speed Control Mode.

typedef enum __attribute__((packed)) {
    POSITION_SPEED_CONTROL      = 0x0000,
    POSITION_TIME_CONTROL       = 0x8000,
    WHEEL_CCW                   = 0x0000,
    WHEEL_CW                    = 0x0400
} G15_SPEED_CONTROL_MODE;

CL_SENSOR_COLOUR

Colour sensor detected colour.

typedef enum __attribute__((packed)) {
    CL_RED          = 0,
    CL_GREEN        = 1,
    CL_BLUE         = 2,
    CL_CYAN         = 3,
    CL_MAGENTA      = 4,
    CL_YELLOW       = 5,
    CL_WHITE        = 6,
    CL_ANY_COLOUR   = 7,
    CL_BLACK        = 8
} CL_SENSOR_COLOUR;