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hitechnic-angle-test1.c
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hitechnic-angle-test1.c
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#pragma config(Sensor, S1, , sensorEV3_GenericI2C)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
/**
* hitechnic-angle.h provides an API for the HiTechnic Angle Sensor. This program
* demonstrates how to use that API.
*
* Changelog:
* - 0.1: Initial release
* - 0.2: Removed common.h from includes
*
* Credits:
* - Big thanks to HiTechnic for providing me with the hardware necessary to write and test this.
*
* License: You may use this code as you wish, provided you give credit where it's due.
*
* THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 4.10 AND HIGHER
* Xander Soldaat (xander_at_botbench.com)
* date 20 February 2011
* version 0.2
*/
#include "hitechnic-angle.h"
task main () {
#ifdef NXT
nNxtButtonTask = -2;
#endif
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "Angle");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
displayCenteredTextLine(0, "HiTechnic Angle");
displayTextLine(1, "-------------------");
displayTextLine(5, "-------------------");
// Create struct to hold sensor data
tHTANG angleSensor;
// Initialise and configure struct and port
initSensor(&angleSensor, S1);
while (true) {
// Reset all the values in the sensor
if (getXbuttonValue(xButtonEnter)) {
resetSensor(&angleSensor);
while (!getXbuttonValue(xButtonAny)) sleep(1);
}
// If the left button is pressed, set the 0 point to the current angle
else if (getXbuttonValue(xButtonLeft)) {
resetAngle(&angleSensor);
while (!getXbuttonValue(xButtonAny)) sleep(1);
// Reset the total accumulated angle to 0
} else if (getXbuttonValue(xButtonRight)) {
resetAccmulatedAngle(&angleSensor);
while (!getXbuttonValue(xButtonAny)) sleep(1);
}
// Read the data from the sensor
readSensor(&angleSensor);
displayTextLine(2, "Ang: %7d deg", angleSensor.angle);
displayTextLine(3, "Tot: %7d deg", angleSensor.accumlatedAngle);
displayTextLine(4, "RPM: %7d", angleSensor.rpm);
displayTextLine(6, " < Set angle");
displayTextLine(7, " Reset total >");
sleep(50);
}
}