MindSensors API Functions

Functions for accessing and modifying MindSensors devices. More...

Modules
	MindSensors device constants
	Constants that are for use with MindSensors devices.

Functions
void	SetSensorMSPressure (const byte &port)
	Configure a mindsensors pressure sensor.
void	SetSensorMSDROD (const byte &port, bool bActive)
	Configure a mindsensors DROD sensor.
void	SetSensorNXTSumoEyes (const byte &port, bool bLong)
	Configure a mindsensors SumoEyes sensor.
int	SensorMSPressure (const byte &port)
	Read mindsensors pressure sensor.
char	SensorNXTSumoEyes (const byte &port)
	Read mindsensors NXTSumoEyes obstacle zone.
int	SensorMSCompass (const byte &port, const byte i2caddr)
	Read mindsensors compass value.
int	SensorMSDROD (const byte &port)
	Read mindsensors DROD value.
int	SensorNXTSumoEyesRaw (const byte &port)
	Read mindsensors NXTSumoEyes raw value.
int	SensorMSPressureRaw (const byte &port)
	Read mindsensors raw pressure value.
bool	ReadSensorMSAccel (const byte port, const byte i2caddr, int &x, int &y, int &z)
	Read mindsensors acceleration values.
bool	ReadSensorMSPlayStation (const byte port, const byte i2caddr, byte &btnset1, byte &btnset2, byte &xleft, byte &yleft, byte &xright, byte &yright)
	Read mindsensors playstation controller values.
bool	ReadSensorMSRTClock (const byte port, byte &sec, byte &min, byte &hrs, byte &dow, byte &date, byte &month, byte &year)
	Read mindsensors RTClock values.
bool	ReadSensorMSTilt (const byte &port, const byte &i2caddr, byte &x, byte &y, byte &z)
	Read mindsensors tilt values.
bool	PFMateSend (const byte &port, const byte &i2caddr, const byte &channel, const byte &motors, const byte &cmdA, const byte &spdA, const byte &cmdB, const byte &spdB)
	Send PFMate command.
bool	PFMateSendRaw (const byte &port, const byte &i2caddr, const byte &channel, const byte &b1, const byte &b2)
	Send raw PFMate command.
int	MSReadValue (const byte port, const byte i2caddr, const byte reg, const byte numbytes)
	Read a mindsensors device value.
char	MSEnergize (const byte port, const byte i2caddr)
	Turn on power to device.
char	MSDeenergize (const byte port, const byte i2caddr)
	Turn off power to device.
char	MSADPAOn (const byte port, const byte i2caddr)
	Turn on mindsensors ADPA mode.
char	MSADPAOff (const byte port, const byte i2caddr)
	Turn off mindsensors ADPA mode.
char	DISTNxGP2D12 (const byte port, const byte i2caddr)
	Configure DISTNx as GP2D12.
char	DISTNxGP2D120 (const byte port, const byte i2caddr)
	Configure DISTNx as GP2D120.
char	DISTNxGP2YA02 (const byte port, const byte i2caddr)
	Configure DISTNx as GP2YA02.
char	DISTNxGP2YA21 (const byte port, const byte i2caddr)
	Configure DISTNx as GP2YA21.
int	DISTNxDistance (const byte port, const byte i2caddr)
	Read DISTNx distance value.
int	DISTNxMaxDistance (const byte port, const byte i2caddr)
	Read DISTNx maximum distance value.
int	DISTNxMinDistance (const byte port, const byte i2caddr)
	Read DISTNx minimum distance value.
byte	DISTNxModuleType (const byte port, const byte i2caddr)
	Read DISTNx module type value.
byte	DISTNxNumPoints (const byte port, const byte i2caddr)
	Read DISTNx num points value.
int	DISTNxVoltage (const byte port, const byte i2caddr)
	Read DISTNx voltage value.
char	ACCLNxCalibrateX (const byte port, const byte i2caddr)
	Calibrate ACCL-Nx X-axis.
char	ACCLNxCalibrateXEnd (const byte port, const byte i2caddr)
	Stop calibrating ACCL-Nx X-axis.
char	ACCLNxCalibrateY (const byte port, const byte i2caddr)
	Calibrate ACCL-Nx Y-axis.
char	ACCLNxCalibrateYEnd (const byte port, const byte i2caddr)
	Stop calibrating ACCL-Nx Y-axis.
char	ACCLNxCalibrateZ (const byte port, const byte i2caddr)
	Calibrate ACCL-Nx Z-axis.
char	ACCLNxCalibrateZEnd (const byte port, const byte i2caddr)
	Stop calibrating ACCL-Nx Z-axis.
char	ACCLNxResetCalibration (const byte port, const byte i2caddr)
	Reset ACCL-Nx calibration.
char	SetACCLNxSensitivity (const byte port, const byte i2caddr, byte slevel)
	Set ACCL-Nx sensitivity.
byte	ACCLNxSensitivity (const byte port, const byte i2caddr)
	Read ACCL-Nx sensitivity value.
int	ACCLNxXOffset (const byte port, const byte i2caddr)
	Read ACCL-Nx X offset value.
int	ACCLNxXRange (const byte port, const byte i2caddr)
	Read ACCL-Nx X range value.
int	ACCLNxYOffset (const byte port, const byte i2caddr)
	Read ACCL-Nx Y offset value.
int	ACCLNxYRange (const byte port, const byte i2caddr)
	Read ACCL-Nx Y range value.
int	ACCLNxZOffset (const byte port, const byte i2caddr)
	Read ACCL-Nx Z offset value.
int	ACCLNxZRange (const byte port, const byte i2caddr)
	Read ACCL-Nx Z range value.
char	PSPNxDigital (const byte &port, const byte &i2caddr)
	Configure PSPNx in digital mode.
char	PSPNxAnalog (const byte &port, const byte &i2caddr)
	Configure PSPNx in analog mode.
unsigned int	NXTServoPosition (const byte &port, const byte &i2caddr, const byte servo)
	Read NXTServo servo position value.
byte	NXTServoSpeed (const byte &port, const byte &i2caddr, const byte servo)
	Read NXTServo servo speed value.
byte	NXTServoBatteryVoltage (const byte &port, const byte &i2caddr)
	Read NXTServo battery voltage value.
char	SetNXTServoSpeed (const byte &port, const byte &i2caddr, const byte servo, const byte &speed)
	Set NXTServo servo motor speed.
char	SetNXTServoQuickPosition (const byte &port, const byte &i2caddr, const byte servo, const byte &qpos)
	Set NXTServo servo motor quick position.
char	SetNXTServoPosition (const byte &port, const byte &i2caddr, const byte servo, const byte &pos)
	Set NXTServo servo motor position.
char	NXTServoReset (const byte &port, const byte &i2caddr)
	Reset NXTServo properties.
char	NXTServoHaltMacro (const byte &port, const byte &i2caddr)
	Halt NXTServo macro.
char	NXTServoResumeMacro (const byte &port, const byte &i2caddr)
	Resume NXTServo macro.
char	NXTServoPauseMacro (const byte &port, const byte &i2caddr)
	Pause NXTServo macro.
char	NXTServoInit (const byte &port, const byte &i2caddr, const byte servo)
	Initialize NXTServo servo properties.
char	NXTServoGotoMacroAddress (const byte &port, const byte &i2caddr, const byte &macro)
	Goto NXTServo macro address.
char	NXTServoEditMacro (const byte &port, const byte &i2caddr)
	Edit NXTServo macro.
char	NXTServoQuitEdit (const byte &port)
	Quit NXTServo macro edit mode.
char	NXTHIDAsciiMode (const byte &port, const byte &i2caddr)
	Set NXTHID into ASCII data mode.
char	NXTHIDDirectMode (const byte &port, const byte &i2caddr)
	Set NXTHID into direct data mode.
char	NXTHIDTransmit (const byte &port, const byte &i2caddr)
	Transmit NXTHID character.
char	NXTHIDLoadCharacter (const byte &port, const byte &i2caddr, const byte &modifier, const byte &character)
	Load NXTHID character.
char	NXTPowerMeterResetCounters (const byte &port, const byte &i2caddr)
	Reset NXTPowerMeter counters.
int	NXTPowerMeterPresentCurrent (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter present current.
int	NXTPowerMeterPresentVoltage (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter present voltage.
int	NXTPowerMeterCapacityUsed (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter capacity used.
int	NXTPowerMeterPresentPower (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter present power.
long	NXTPowerMeterTotalPowerConsumed (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter total power consumed.
int	NXTPowerMeterMaxCurrent (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter maximum current.
int	NXTPowerMeterMinCurrent (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter minimum current.
int	NXTPowerMeterMaxVoltage (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter maximum voltage.
int	NXTPowerMeterMinVoltage (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter minimum voltage.
long	NXTPowerMeterElapsedTime (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter elapsed time.
int	NXTPowerMeterErrorCount (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter error count.
char	NXTLineLeaderPowerDown (const byte &port, const byte &i2caddr)
	Powerdown NXTLineLeader device.
char	NXTLineLeaderPowerUp (const byte &port, const byte &i2caddr)
	Powerup NXTLineLeader device.
char	NXTLineLeaderInvert (const byte &port, const byte &i2caddr)
	Invert NXTLineLeader colors.
char	NXTLineLeaderReset (const byte &port, const byte &i2caddr)
	Reset NXTLineLeader color inversion.
char	NXTLineLeaderSnapshot (const byte &port, const byte &i2caddr)
	Take NXTLineLeader line snapshot.
char	NXTLineLeaderCalibrateWhite (const byte &port, const byte &i2caddr)
	Calibrate NXTLineLeader white color.
char	NXTLineLeaderCalibrateBlack (const byte &port, const byte &i2caddr)
	Calibrate NXTLineLeader black color.
char	NXTLineLeaderSteering (const byte &port, const byte &i2caddr)
	Read NXTLineLeader steering.
char	NXTLineLeaderAverage (const byte &port, const byte &i2caddr)
	Read NXTLineLeader average.
byte	NXTLineLeaderResult (const byte &port, const byte &i2caddr)
	Read NXTLineLeader result.
char	SetNXTLineLeaderSetpoint (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader setpoint.
char	SetNXTLineLeaderKpValue (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Kp value.
char	SetNXTLineLeaderKiValue (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Ki value.
char	SetNXTLineLeaderKdValue (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Kd value.
char	SetNXTLineLeaderKpFactor (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Kp factor.
char	SetNXTLineLeaderKiFactor (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Ki factor.
char	SetNXTLineLeaderKdFactor (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Kd factor.
char	NRLink2400 (const byte port, const byte i2caddr)
	Configure NRLink in 2400 baud mode.
char	NRLink4800 (const byte port, const byte i2caddr)
	Configure NRLink in 4800 baud mode.
char	NRLinkFlush (const byte port, const byte i2caddr)
	Flush NRLink buffers.
char	NRLinkIRLong (const byte port, const byte i2caddr)
	Configure NRLink in IR long mode.
char	NRLinkIRShort (const byte port, const byte i2caddr)
	Configure NRLink in IR short mode.
char	NRLinkSetPF (const byte port, const byte i2caddr)
	Configure NRLink in power function mode.
char	NRLinkSetRCX (const byte port, const byte i2caddr)
	Configure NRLink in RCX mode.
char	NRLinkSetTrain (const byte port, const byte i2caddr)
	Configure NRLink in IR train mode.
char	NRLinkTxRaw (const byte port, const byte i2caddr)
	Configure NRLink in raw IR transmit mode.
byte	NRLinkStatus (const byte port, const byte i2caddr)
	Read NRLink status.
char	RunNRLinkMacro (const byte port, const byte i2caddr, const byte macro)
	Run NRLink macro.
char	WriteNRLinkBytes (const byte port, const byte i2caddr, const byte data[])
	Write data to NRLink.
bool	ReadNRLinkBytes (const byte port, const byte i2caddr, byte &data[])
	Read data from NRLink.
char	MSIRTrain (const byte port, const byte i2caddr, const byte channel, const byte func)
	MSIRTrain function.
char	MSPFComboDirect (const byte port, const byte i2caddr, const byte channel, const byte outa, const byte outb)
	MSPFComboDirect function.
char	MSPFComboPWM (const byte port, const byte i2caddr, const byte channel, const byte outa, const byte outb)
	MSPFComboPWM function.
char	MSPFRawOutput (const byte port, const byte i2caddr, const byte nibble0, const byte nibble1, const byte nibble2)
	MSPFRawOutput function.
char	MSPFRepeat (const byte port, const byte i2caddr, const byte count, const unsigned int delay)
	MSPFRepeat function.
char	MSPFSingleOutputCST (const byte port, const byte i2caddr, const byte channel, const byte out, const byte func)
	MSPFSingleOutputCST function.
char	MSPFSingleOutputPWM (const byte port, const byte i2caddr, const byte channel, const byte out, const byte func)
	MSPFSingleOutputPWM function.
char	MSPFSinglePin (const byte port, const byte i2caddr, const byte channel, const byte out, const byte pin, const byte func, bool cont)
	MSPFSinglePin function.
char	MSPFTrain (const byte port, const byte i2caddr, const byte channel, const byte func)
	MSPFTrain function.
void	MSRCXSetNRLinkPort (const byte port, const byte i2caddr)
	MSRCXSetIRLinkPort function.
int	MSRCXBatteryLevel (void)
	MSRCXBatteryLevel function.
int	MSRCXPoll (const byte src, const byte value)
	MSRCXPoll function.
int	MSRCXPollMemory (const unsigned int address)
	MSRCXPollMemory function.
void	MSRCXAbsVar (const byte varnum, const byte byte src, const unsigned int value)
	MSRCXAbsVar function.
void	MSRCXAddToDatalog (const byte src, const unsigned int value)
	MSRCXAddToDatalog function.
void	MSRCXAndVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXAndVar function.
void	MSRCXBoot (void)
	MSRCXBoot function.
void	MSRCXCalibrateEvent (const byte evt, const byte low, const byte hi, const byte hyst)
	MSRCXCalibrateEvent function.
void	MSRCXClearAllEvents (void)
	MSRCXClearAllEvents function.
void	MSRCXClearCounter (const byte counter)
	MSRCXClearCounter function.
void	MSRCXClearMsg (void)
	MSRCXClearMsg function.
void	MSRCXClearSensor (const byte port)
	MSRCXClearSensor function.
void	MSRCXClearSound (void)
	MSRCXClearSound function.
void	MSRCXClearTimer (const byte timer)
	MSRCXClearTimer function.
void	MSRCXCreateDatalog (const unsigned int size)
	MSRCXCreateDatalog function.
void	MSRCXDecCounter (const byte counter)
	MSRCXDecCounter function.
void	MSRCXDeleteSub (const byte s)
	MSRCXDeleteSub function.
void	MSRCXDeleteSubs (void)
	MSRCXDeleteSubs function.
void	MSRCXDeleteTask (const byte t)
	MSRCXDeleteTask function.
void	MSRCXDeleteTasks (void)
	MSRCXDeleteTasks function.
void	MSRCXDisableOutput (const byte outputs)
	MSRCXDisableOutput function.
void	MSRCXDivVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXDivVar function.
void	MSRCXEnableOutput (const byte outputs)
	MSRCXEnableOutput function.
void	MSRCXEvent (const byte src, const unsigned int value)
	MSRCXEvent function.
void	MSRCXFloat (const byte outputs)
	MSRCXFloat function.
void	MSRCXFwd (const byte outputs)
	MSRCXFwd function.
void	MSRCXIncCounter (const byte counter)
	MSRCXIncCounter function.
void	MSRCXInvertOutput (const byte outputs)
	MSRCXInvertOutput function.
void	MSRCXMulVar (const byte varnum, const byte src, unsigned int value)
	MSRCXMulVar function.
void	MSRCXMuteSound (void)
	MSRCXMuteSound function.
void	MSRCXObvertOutput (const byte outputs)
	MSRCXObvertOutput function.
void	MSRCXOff (const byte outputs)
	MSRCXOff function.
void	MSRCXOn (const byte outputs)
	MSRCXOn function.
void	MSRCXOnFor (const byte outputs, const unsigned int ms)
	MSRCXOnFor function.
void	MSRCXOnFwd (const byte outputs)
	MSRCXOnFwd function.
void	MSRCXOnRev (const byte outputs)
	MSRCXOnRev function.
void	MSRCXOrVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXOrVar function.
void	MSRCXPBTurnOff (void)
	MSRCXPBTurnOff function.
void	MSRCXPing (void)
	MSRCXPing function.
void	MSRCXPlaySound (const byte snd)
	MSRCXPlaySound function.
void	MSRCXPlayTone (const unsigned int freq, const byte duration)
	MSRCXPlayTone function.
void	MSRCXPlayToneVar (const byte varnum, const byte duration)
	MSRCXPlayToneVar function.
void	MSRCXRemote (unsigned int cmd)
	MSRCXRemote function.
void	MSRCXReset (void)
	MSRCXReset function.
void	MSRCXRev (const byte outputs)
	MSRCXRev function.
void	MSRCXSelectDisplay (const byte src, const unsigned int value)
	MSRCXSelectDisplay function.
void	MSRCXSelectProgram (const byte prog)
	MSRCXSelectProgram function.
void	MSRCXSendSerial (const byte first, const byte count)
	MSRCXSendSerial function.
void	MSRCXSet (const byte dstsrc, const byte dstval, const byte src, unsigned int value)
	MSRCXSet function.
void	MSRCXSetDirection (const byte outputs, const byte dir)
	MSRCXSetDirection function.
void	MSRCXSetEvent (const byte evt, const byte src, const byte type)
	MSRCXSetEvent function.
void	MSRCXSetGlobalDirection (const byte outputs, const byte dir)
	MSRCXSetGlobalDirection function.
void	MSRCXSetGlobalOutput (const byte outputs, const byte mode)
	MSRCXSetGlobalOutput function.
void	MSRCXSetMaxPower (const byte outputs, const byte pwrsrc, const byte pwrval)
	MSRCXSetMaxPower function.
void	MSRCXSetMessage (const byte msg)
	MSRCXSetMessage function.
void	MSRCXSetOutput (const byte outputs, const byte mode)
	MSRCXSetOutput function.
void	MSRCXSetPower (const byte outputs, const byte pwrsrc, const byte pwrval)
	MSRCXSetPower function.
void	MSRCXSetPriority (const byte p)
	MSRCXSetPriority function.
void	MSRCXSetSensorMode (const byte port, const byte mode)
	MSRCXSetSensorMode function.
void	MSRCXSetSensorType (const byte port, const byte type)
	MSRCXSetSensorType function.
void	MSRCXSetSleepTime (const byte t)
	MSRCXSetSleepTime function.
void	MSRCXSetTxPower (const byte pwr)
	MSRCXSetTxPower function.
void	MSRCXSetUserDisplay (const byte src, const unsigned int value, const byte precision)
	MSRCXSetUserDisplay function.
void	MSRCXSetVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXSetVar function.
void	MSRCXSetWatch (const byte hours, const byte minutes)
	MSRCXSetWatch function.
void	MSRCXSgnVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXSgnVar function.
void	MSRCXStartTask (const byte t)
	MSRCXStartTask function.
void	MSRCXStopAllTasks (void)
	MSRCXStopAllTasks function.
void	MSRCXStopTask (const byte t)
	MSRCXStopTask function.
void	MSRCXSubVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXSubVar function.
void	MSRCXSumVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXSumVar function.
void	MSRCXToggle (const byte outputs)
	MSRCXToggle function.
void	MSRCXUnlock (void)
	MSRCXUnlock function.
void	MSRCXUnmuteSound (void)
	MSRCXUnmuteSound function.
void	MSScoutCalibrateSensor (void)
	MSScoutCalibrateSensor function.
void	MSScoutMuteSound (void)
	MSScoutMuteSound function.
void	MSScoutSelectSounds (const byte grp)
	MSScoutSelectSounds function.
void	MSScoutSendVLL (const byte src, const unsigned int value)
	MSScoutSendVLL function.
void	MSScoutSetCounterLimit (const byte ctr, const byte src, const unsigned int value)
	MSScoutSetCounterLimit function.
void	MSScoutSetEventFeedback (const byte src, const unsigned int value)
	MSScoutSetEventFeedback function.
void	MSScoutSetLight (const byte x)
	MSScoutSetLight function.
void	MSScoutSetScoutMode (const byte mode)
	MSScoutSetScoutMode function.
void	MSScoutSetScoutRules (const byte m, const byte t, const byte l, const byte tm, const byte fx)
	MSScoutSetScoutRules function.
void	MSScoutSetSensorClickTime (const byte src, const unsigned int value)
	MSScoutSetSensorClickTime function.
void	MSScoutSetSensorHysteresis (const byte src, const unsigned int value)
	MSScoutSetSensorHysteresis function.
void	MSScoutSetSensorLowerLimit (const byte src, const unsigned int value)
	MSScoutSetSensorLowerLimit function.
void	MSScoutSetSensorUpperLimit (const byte src, const unsigned int value)
	MSScoutSetSensorUpperLimit function.
void	MSScoutSetTimerLimit (const byte tmr, const byte src, const unsigned int value)
	MSScoutSetTimerLimit function.
void	MSScoutUnmuteSound (void)
	MSScoutUnmuteSound function.

Detailed Description

Functions for accessing and modifying MindSensors devices.