ARDUINO 328 Functions Sensors - Revision history

Tfriez: /* Digital */

2012-05-15T13:00:57Z

Digital

Tfriez: /* SensorValue */

2012-05-11T21:14:06Z

SensorValue

Tfriez: /* Information */

2012-05-11T21:13:40Z

Information

Bfeher at 20:45, 11 May 2012

2012-05-11T20:45:13Z

Show changes

Bfeher at 21:27, 10 May 2012

2012-05-10T21:27:44Z

Tfriez: moved ARDUINO Functions Sensors to ARDUINO 328 Functions Sensors

2012-05-09T21:02:15Z

moved ARDUINO Functions Sensors to ARDUINO 328 Functions Sensors

Bfeher: Created page with "ARDUINO_Functions_and_Variables|Functions and Variables
{| |- | ''For more examples and explanations, head over to ..."

2012-05-01T17:29:11Z

Created page with "<yambe:breadcrumb self="Sensors">ARDUINO_Functions_and_Variables|Functions and Variables</yambe:breadcrumb> {| |- | ''For more examples and explanations, head over to ..."

New page

<yambe:breadcrumb self="Sensors">ARDUINO_Functions_and_Variables|Functions and Variables</yambe:breadcrumb>
 

{|
|-
|
''For more examples and explanations, head over to [[VEX2_Sensors_Overview|CORTEX Sensors Overview]] page!''

''For information and examples on using I2C sensors, head over to [[VEX2_I2C_Sensors|CORTEX I2C Digital Sensors]] page!''
|-
|}
 

{{tl|1|1}}
 

== Information ==
{| class="wikiText" border="0"
|-
|The VEX 2.0 Cortex is equipped with 20 sensor ports. There are 8 Analog Sensor Ports and 12 Digital Sensor Ports. Note that unlike the VEX - PIC microcontroller, all Analog sensors must be in Analog ports, while all Digital sensors must be in Digital ports.

There are a variety of functions and variables used for configuring these ports and accessing their values.

Configuring sensors can be complicated. ROBOTC has a built-in wizard that can be used to configure the VEX 2.0 Cortex sensors. The wizard contains a number of PC windows that allow you to set the following fields for the sensor:

*The variable name that you want to assign to the sensor. Using a name like “leftBumper” makes for a more readable program than 'dgtl3'!
*The port that the sensor is connected to.
*The type of sensor – touch, quadrature encoder, sonar, line follower, etc.
|-
|}
 

== SensorBoolean ==
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| const word SensorBoolean[tSensors sensor]
|-
| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_word|word]]) This returns a true or false reading from the sensor. (Mostly used by Touch sensors).

{| class="parameterTable" cellpadding="5%" width="100%"
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! width="60%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Data Type
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''sensor''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|A sensor port or name
| style="border-style: solid; border-width: 1px 0px 0px 0px"|[[Data_Types#dataType_tSensors|tSensors]]
|-
|}

{|
|-
|<syntaxhighlight lang="robotc">
while(SensorBoolean[touchSensor]) // Loop while robot's bumper/touch sensor is pressed in
{
motor[rightMotor] = 63; // Right motor is run at half (63) power forward
motor[leftMotor] = 63; // Left motor is run at half (63) power forward
}
</syntaxhighlight>
|-
|}
|-
|}
 

== SensorRaw ==
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| word SensorRaw[tSensors sensor]
|-
| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_word|word]]) This array value will return the "raw" (un-normalized) value of a sensor. Usually this is the raw A-D converted value, which is an analog value between 0 to 1023.

{| class="parameterTable" cellpadding="5%" width="100%"
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! width="60%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Data Type
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''sensor''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|A sensor port or name
| style="border-style: solid; border-width: 1px 0px 0px 0px"|[[Data_Types#dataType_tSensors|tSensors]]
|-
|}

{|
|-
|<syntaxhighlight lang="robotc">
if(SensorRaw[lightSensor] > 512) // If the Raw Value of the Light Sensor is greater than 512:
{
motor[rightMotor] = 63; // Right motor is run at half (63) power forward
motor[leftMotor] = 63; // Left motor is run at half (63) power forward
}
</syntaxhighlight>
|-
|}
|-
|}
 

== SensorType ==
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| TSensorTypes SensorType[tSensors sensor]
|-
| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_TSensorTypes|TSensorTypes]]) The SensorType array is used to specify what type of sensor is connected to a certain port. Most users should not have to use this functionality and should use the Motors and Sensor Setup instead.

{| class="parameterTable" cellpadding="5%" width="100%"
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! width="60%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Data Type
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''sensor''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|A sensor port or name
| style="border-style: solid; border-width: 1px 0px 0px 0px"|[[Data_Types#dataType_tSensors|tSensors]]
|-
|}

{|
|-
|<syntaxhighlight lang="robotc">
SensorType[sonarSensor] = sensorSonar; // set 'SonarSensor' to be of type sensorSonar (the Motors and
// sensors Setup screen does this for you in the background)
</syntaxhighlight>
|-
|}
|-
|}
 

== SensorValue ==
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| word SensorValue[tSensors sensor]
|-
| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_word|word]]) This array value returns the value of the sensor in a normalized fashion. Rather than returning a raw value of 0 to 1023, ROBOTC will interpret the data from the "SensorType" and return a more accurate representation of the sensor's data. An example of this is the Light Sensor, which will return a percentage value from 0 to 100.

{| class="parameterTable" cellpadding="5%" width="100%"
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! width="60%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Data Type
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''sensor''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|A sensor port or name
| style="border-style: solid; border-width: 1px 0px 0px 0px"|[[Data_Types#dataType_tSensors|tSensors]]
|-
|}

{|
|-
|<syntaxhighlight lang="robotc">
while(SensorValue(touchSensor) == 0) //Loop while robot's bumper/touch sensor isn't pressed in
{
motor[rightMotor] = 63; // Right motor is run at half (63) power forward
motor[leftMotor] = 63; // Left motor is run at half (63) power forward
}
</syntaxhighlight>
|-
|}
|-
|}

@@ Line 61: / Line 61: @@
 |-
 |style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|'''Digital In'''
-|style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|Pin configured as digital input with internal "Pull-Up" resistor enabled.
+|style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|Pin configured as digital input with internal "Pull-Up" resistor ENABLED.
 |-
 |style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|'''Digital Out'''
@@ Line 67: / Line 67: @@
 |-
 |style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|'''Digital High Inpedance'''
-|style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|Pin configured as digital input without the "Pull-Up" resistor enabled.
+|style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|Pin configured as digital input with internal "Pull-Up" resistor DISABLED.
 |-
 |style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|'''Sonar [Ping]'''

@@ Line 144: / Line 144: @@
    |-
    |<syntaxhighlight lang="robotc">
-#pragma config(Sensor, dgtl24, dOut,           sensorDigitalOut)
+#pragma config(Sensor, dgtl10, dOut,           sensorDigitalOut)
 //*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
 task main()
@@ Line 164: / Line 164: @@
    |-
    |<syntaxhighlight lang="robotc">
-#pragma config(Sensor, dgtl25, dIn,            sensorDigitalIn)
+#pragma config(Sensor, dgtl11, dIn,            sensorDigitalIn)
 //*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
 task main()

@@ Line 7: / Line 7: @@
 == Information ==
-The Arduino MEGA has 16 analog sensor ports and 53 digital sensor ports.
+The 328P-Based Arduino have 6 analog sensor ports and 13 digital sensor ports.
 === Analog ===

@@ Line 34: / Line 34: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">const word </span><span class="bigKeywordB">SensorBoolean</span><span class="bigCodePunc">[</span><span class="bigCodeBasic">tSensors sensor</span><span class="bigCodePunc">]</span>
+| class="variableType"| <span class="bigKeywordBI">const word </span><span class="bigKeywordB">SensorBoolean</span><span class="bigCodePunc">[</span><span class="bigCodeBasic">tSensors sensor</span><span class="bigCodePunc">]</span>
 |-
 | style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_word|word]])  This returns a true or false reading from the sensor. (Mostly used by Touch sensors).
@@ Line 69: / Line 69: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">word </span><span class="bigKeywordB">SensorRaw</span><span class="bigCodePunc">[</span><span class="bigCodeBasic">tSensors sensor</span><span class="bigCodePunc">]</span>
+| class="variableType"| <span class="bigKeywordBI">word </span><span class="bigKeywordB">SensorRaw</span><span class="bigCodePunc">[</span><span class="bigCodeBasic">tSensors sensor</span><span class="bigCodePunc">]</span>
 |-
 | style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_word|word]])  This array value will return the "raw" (un-normalized) value of a sensor. Usually this is the raw A-D converted value, which is an analog value between 0 to 1023.
@@ Line 104: / Line 104: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordB">TSensorTypes </span><span class="bigKeywordB">SensorType</span><span class="bigCodePunc">[</span><span class="bigCodeBasic">tSensors sensor</span><span class="bigCodePunc">]</span>
+| class="variableType"| <span class="bigKeywordB">TSensorTypes </span><span class="bigKeywordB">SensorType</span><span class="bigCodePunc">[</span><span class="bigCodeBasic">tSensors sensor</span><span class="bigCodePunc">]</span>
 |-
 | style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_TSensorTypes|TSensorTypes]])  The SensorType array is used to specify what type of sensor is connected to a certain port. Most users should not have to use this functionality and should use the Motors and Sensor Setup instead.
@@ Line 136: / Line 136: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">word </span><span class="bigKeywordB">SensorValue</span><span class="bigCodePunc">[</span><span class="bigCodeBasic">tSensors sensor</span><span class="bigCodePunc">]</span>
+| class="variableType"| <span class="bigKeywordBI">word </span><span class="bigKeywordB">SensorValue</span><span class="bigCodePunc">[</span><span class="bigCodeBasic">tSensors sensor</span><span class="bigCodePunc">]</span>
 |-
 | style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_word|word]])  This array value returns the value of the sensor in a normalized fashion. Rather than returning a raw value of 0 to 1023, ROBOTC will interpret the data from the "SensorType" and return a more accurate representation of the sensor's data. An example of this is the Light Sensor, which will return a percentage value from 0 to 100.