Finch.h File Reference

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Macros
#define	_LINUX_
	Sets the API for use with Mac or Linux, comment out if using Windows.
#define	Sleep(mm)   usleep(mm*1000)
	If using Linux/Mac, redefines sleep to match that OS call.

Functions
int	Fin_Init (void)
	Fin_init(void).
int	Fin_Exit (void)
	Fin_Exit(void).
int	Fin_Motor (int tenth, int left, int right)
	Fin_Motor(tenth, left, right).
int	Fin_Move (int tenth, int left, int right)
	Fin_Move(tenth, left, right).
int	Fin_Speed (int *left, int *right)
	Fin_Speed(*left, *right).
int	Fin_LED (int red, int green, int blue)
	Fin_LED(red, green, blue).
int	Fin_Buzzer (int msec, int freq)
	Fin_Buzzer(msec, freq).
int	Fin_Lights (int *left, int *right)
	Fin_Lights(*left, *right).
int	Fin_Obstacle (int *left, int *right)
	Fin_Obstacle(*left, *right).
int	Fin_Temp (float *temp)
	Fin_Temp(*temp).
int	Fin_Accel (float *x, float *y, float *z, int *tap, int *shake)
	Fin_Accel(*x, *y, *z, *tap, *shake).
int	kbhit (void)

Macro Definition Documentation

#define _LINUX_

Sets the API for use with Mac or Linux, comment out if using Windows.

#define Sleep

(

mm

)

usleep(mm*1000)

If using Linux/Mac, redefines sleep to match that OS call.

Function Documentation

int Fin_Accel	(	float *	x,
		float *	y,
		float *	z,
		int *	tap,
		int *	shake
	)

Fin_Accel(*x, *y, *z, *tap, *shake).

Get acceleration values and tap/shaken flags. Returned acceleration values are in 'g' (in 1/1000 units) and range from +1.5 to -1.5g.

Parameters

*x	pointer for the x-axis acceleration
*z	pointer for the y-axis acceleration
*y	pointer for the z-axis acceleration
*tap	pointer to return the tap flag (0 = not tap)
*shaken	pointer to return the shaken flag (0 = not shaken)

Returns

-1 if failure

int Fin_Buzzer	(	int	msec,
		int	freq
	)

Fin_Buzzer(msec, freq).

Turn on the buzzer. Use 0,0 to turn the buzzer off

Parameters

msec	duration in msecs
freq	frequency in hz

Returns

-1 if failure

int Fin_Exit

(

void

)

Fin_Exit(void).

Sends Finch back to idle mode and closes the connection.

Returns

-1 if failure

int Fin_Init

(

void

)

Fin_init(void).

Initializes the interface to the finch robot and launches a background thread to prevent the finch from timing out. MUST be called prior to all other finch functions

Returns

-1 if failure

int Fin_LED	(	int	red,
		int	green,
		int	blue
	)

Fin_LED(red, green, blue).

Set the color and intensity of the beak LED

Parameters

red	intensity of the red portion of the beak LED (0-255, 0 is off)
green	intensity of the green portion of the beak LED (0-255, 0 is off)
blue	intensity of the blue portion of the beak LED (0-255, 0 is off)

Returns

-1 if failure

int Fin_Lights	(	int *	left,
		int *	right
	)

Fin_Lights(*left, *right).

Get light sensor data. Returned values range from 255 to 0 (0=dark)

Parameters

*left	pointer for left light sensor data
*right	pointer for right light sensor data

Returns

-1 if failure

int Fin_Motor	(	int	tenth,
		int	left,
		int	right
	)

Fin_Motor(tenth, left, right).

Set the speed (and duration) of the wheels. Use 0,0,0 to stop. To set the wheels to spin continuously, set tenth to -1. This function does not block further program execution. Use Fin_Move for that.

Parameters

tenth	motor on time (in tenths of a second)
left	speed of left wheel (-255 to 255)
right	speed of right wheel (-255 to 255)

Returns

-1 if failure

int Fin_Move	(	int	tenth,
		int	left,
		int	right
	)

Fin_Move(tenth, left, right).

Set the speed (and duration) of the wheels, and block the program from further execution until time is up. Useful for dancing programs.

Parameters

tenth	motor on time (in tenths of a second)
left	speed of left wheel (-255 to 255)
right	speed of right wheel (-255 to 255)

Returns

-1 if failure

int Fin_Obstacle	(	int *	left,
		int *	right
	)

Fin_Obstacle(*left, *right).

Get obstacle sensor data. Returned value is 1 or 0 (0=no obstacle).

Parameters

*left	pointer for left obstacle sensor data
*right	pointer for right obstacle sensor data

Returns

-1 if failure

int Fin_Speed	(	int *	left,
		int *	right
	)

Fin_Speed(*left, *right).

Get the current speed of the wheels.

Parameters

*left	pointer to return speed of left wheel
*right	pointer to return speed of right wheel

Returns

-1 if failure

int Fin_Temp

(

float *

temp

)

Fin_Temp(*temp).

Get temperature sensor data

Parameters

*temp

pointer to return the temperature; returned value is in celsius (in 1/1000 units)

Returns

-1 if failure

int kbhit

(

void

)