abcalibrate.h File Reference

This library has a function you can call to calibrate your ActivityBot. Example code that uses this library to calibrate the ActivityBot is here:

http://learn.parallax.com/activitybot

Calibration instructions that accompany the example code are included in the tutorial. More...

#include "servo.h"
#include "simpletools.h"
#include "fdserial.h"

Go to the source code of this file.

Macros
#define	_ActivityBot_EE_Start_   63418
	ActivityBot EEPROM calibration data start address.
#define	_ActivityBot_EE_Pins_   12
#define	_ActivityBot_EE_Trims_   28
#define	_ActivityBot_EE_Left_   52
#define	_ActivityBot_EE_Right_   1052
#define	_ActivityBot_EE_End_   63418 + 2052
	ActivityBot EEPROM calibration data end address.

Functions
void	cal_activityBot ()
	Run the ActivityBot calibration function. Let it run until the P26 and P27 lights turn off. It'll take about 1 minute, 20 seconds.
void	cal_servoPins (int servoPinLeft, int servoPinRight)
	Set the ActivityBot's servo pin connections to something other than the default P12 (left servo) and P13 (right servo). This function stores values in EEPROM where the abdrive library can access them. So, the abdrive library will expect the servos to be connected to the I/O pins specified by the servoPinLeft and servoPinRight parameters.
void	cal_encoderPins (int encPinLeft, int encPinRight)
	Set the ActivityBot's servo pin connections to something other than the default P14 (left encoder) and P15 (right encoder). This function stores values in EEPROM where the abdrive library can access them. So, the abdrive library will expect the encoders to be connected to the I/O pins specified by the encPinLeft and encPinRight parameters.

Detailed Description

This library has a function you can call to calibrate your ActivityBot. Example code that uses this library to calibrate the ActivityBot is here:

http://learn.parallax.com/activitybot

Calibration instructions that accompany the example code are included in the tutorial.

Author

Andy Lindsay

Copyright

Copyright (C) Parallax, Inc. 2013. See end of file for terms of use (MIT License).

Core Usage

A call to cal_activityBot launches 2 additional cores, and self-terminates the application when done.

EEPROM Usage

Writes to addresses 63418..65470.

Memory Models

Use with CMM.

Version

0.91

• add cal_servoPins and cal_encoderPins to change from default I/O connections to ActivityBot servos and encoders. Values used will persist in EEPROM and be used by the abdrive library.

v0.90

Help Improve this Library

Please submit bug reports, suggestions, and improvements to this code to edito.nosp@m.r@pa.nosp@m.ralla.nosp@m.x.co.nosp@m.m.

Function Documentation

void cal_encoderPins	(	int	encPinLeft,
		int	encPinRight
	)

Set the ActivityBot's servo pin connections to something other than the default P14 (left encoder) and P15 (right encoder). This function stores values in EEPROM where the abdrive library can access them. So, the abdrive library will expect the encoders to be connected to the I/O pins specified by the encPinLeft and encPinRight parameters.

Parameters

encPinLeft	Number of I/O pin connected to the left encoder.
encPinRight	Number of I/O pin connected to the right encoder.

void cal_servoPins	(	int	servoPinLeft,
		int	servoPinRight
	)

Set the ActivityBot's servo pin connections to something other than the default P12 (left servo) and P13 (right servo). This function stores values in EEPROM where the abdrive library can access them. So, the abdrive library will expect the servos to be connected to the I/O pins specified by the servoPinLeft and servoPinRight parameters.

Parameters

servoPinLeft	Number of I/O pin connected to the left servo.
servoPinRight	Number of I/O pin connected to the right servo.