#pragma config(Sensor, S1,     PROTO_PORT,          sensorI2CCustom9V)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*
    Name: RBC_Exp1.c
    Author: Xander Soldaat
    Date: 28/01/2009
    Version: 0.1
    Contact: mightor_at_gmail.com

(c) Xander Soldaat & HiTechnic , 2009

*/

int inputdata;
byte outputdata;
byte cmdbuff[4];
byte respbuff[2];

/*
  42,43 - A0 input
  44,45 - A1 input
  46,47 - A2 input
  48,49 - A3 input
  4A,4B - A4 input
  4C    - B inputs
  4D    - B ouputs
  4E    - B controls
*/

// Convert an unsigned byte to an int.  RobotC doesn't currently
// support unsigned variables. This function is a work-around.
int ubyteToInt(byte _byte) {
   return (_byte & 0x80) ? (_byte & 0x7F) + 0x80 : _byte;
}

void setup() {
  cmdbuff[0] = 1;                           // Number of bytes in I2C command
  cmdbuff[1] = 0x02;                        // I2C address of protoboard

  for(int i = 0; i < 5; i++) {
    sendI2CMsg(PROTO_PORT, cmdbuff[0], 0);  // Send command to protoboard
    wait1Msec(5);
  }
}

void readdata() {
  cmdbuff[0] = 2;                           // Number of bytes in I2C command
  cmdbuff[1] = 0x02;                        // I2C address of protoboard
  cmdbuff[2] = 0x42;                        // Set read address to A0

  sendI2CMsg(PROTO_PORT, cmdbuff[0], 2);    // Send command to protoboard
  wait1Msec(10);                            // Wait for response
  readI2CReply(PROTO_PORT, respbuff[0], 2); // Read the response

  inputdata = ubyteToInt(respbuff[0]) * 4 + ubyteToInt(respbuff[1]);
}

void writedata() {

  cmdbuff[0] = 3;                           // Number of bytes in I2C command
  cmdbuff[1] = 0x02;                        // I2C address of protoboard
  cmdbuff[2] = 0x4D;                        // Set write address to B outputs
  cmdbuff[3] = outputdata;                  // The data to be written

  sendI2CMsg(PROTO_PORT, cmdbuff[0], 0);    // Send command to protoboard
  wait1Msec(5);
}

task main() {
  setup();

  cmdbuff[0] = 3;                           // Number of bytes in I2C command
  cmdbuff[1] = 0x02;                        // I2C address of protoboard
  cmdbuff[2] = 0x4E;                        // Set write address to B outputs
  cmdbuff[3] = 0x3F;                        // The data to be written
                                            // 0x3F = 111111 binary

  sendI2CMsg(PROTO_PORT, cmdbuff[0], 0);    // Send command to protoboard
  wait1Msec(5);

  while(true) {
    readdata();
    eraseDisplay();
    nxtDisplayTextLine(1, "%d", inputdata);
    if(inputdata < 512) outputdata = 0x00;
    else outputdata = 0x01;
    writedata();
    wait1Msec(50);
  }
}

#pragma config(Sensor, S1,     HTPB,                sensorLowSpeed9v)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*
 * $Id: HTPB-exp1.c 25 2010-05-11 13:18:02Z xander $
 */

/**
 * HTPB-driver.h provides an API for the HiTechnic Protoboard.  This is program 1
 * for the HTPB experimenter's kit.
 *
 * Changelog:
 * - 0.1: Initial release
 *
 * 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 2.00 AND HIGHER.
 * Xander Soldaat (mightor_at_gmail.com)
 * 07 May 2010
 * version 0.1
 */

#include "drivers/common.h"
#include "drivers/HTPB-driver.h"

task main() {
  // Local variables
  int inputdata;

  // The data to be written: 0x3F = 111111 binary,
  // makes all digital ports outputs.
  HTPBsetupIO(HTPB, 0x3F);

  while(true) {
    // Read a 10bit wide analogue value from A0
    inputdata = HTPBreadADC(HTPB, 0, 10);
    eraseDisplay();
    nxtDisplayTextLine(1, "%d", inputdata);

    // If A0 is less than 50% of the max value
    // turn off the LED, otherwise switch it on
    if(inputdata < 512)
      HTPBwriteIO(HTPB, 0x00);
    else
      HTPBwriteIO(HTPB, 0x01);

    wait1Msec(50);
  }
}

/*
 * $Id: HTPB-exp1.c 25 2010-05-11 13:18:02Z xander $
 */