FRDM-TFC_API

Gets the state of the 4-positiomn DIP switch on the FRDM-TFC.

Returns:

The lower 4-bits of the return value map to the 4-bits of the DIP switch

Definition at line 444 of file TFC.cpp.

Initialized the TFC API.

Call before using any other API calls.

Definition at line 366 of file TFC.cpp.

Initialized TPM0 to be used for generating PWM signals for the the dual drive motors.

This method is called in the TFC constructor with a default value of 4000.0Hz

Parameters:

SwitchingFrequency

PWM Switching Frequency in floating point format. Pick something between 1000 and 9000. Maybe you can modulate it and make a tune.

Definition at line 910 of file TFC.cpp.

Initializes TPM for the servoes.

It also sets the max and min ranges

Parameters:

ServoPulseWidthMin	Minimum pulse width (in seconds) for the servo. The value of -1.0 in SetServo is mapped to this pulse width. I.E. .001
ServoPulseWidthMax	Maximum pulse width (in seconds) for the servo. The value of +1.0 in SetServo is mapped to this pulse width. I.E. .002
ServoPeriod	Period of the servo pulses (in seconds). I.e. .020 for 20mSec

Definition at line 488 of file TFC.cpp.

Gets the current battery voltage.

Returns:

Battery voltage in floating point form.

Definition at line 989 of file TFC.cpp.

Reads the potentiometers.

Parameters:

Channel

Selects which pot is read. I.e. 0 for POT0 or 1 for POT1

Returns:

Pot value from -1.0 to 1.0

Definition at line 981 of file TFC.cpp.

Reads the state of the pushbuttons (SW1, SW2) on the FRDM-TFC.

Parameters:

Index

Selects the pushbutton (0 for SW1 and 1 for SW2)

Returns:

A non-zero value if the button is pushed

Definition at line 453 of file TFC.cpp.

Controls the 4 battery level LEDs on the FRDM-TFC boards.

Parameters:

Value

The lower 4-bits of the parameter maps to the 4 LEDs.

Definition at line 421 of file TFC.cpp.

Sets the Battery level indiciate.

Parameters:

BattLevel

A number betwween 0 and 4. This will light the bar from left to right with the specifified number of segments.

Definition at line 995 of file TFC.cpp.

Sets the PWM value for each motor.

Parameters:

MotorA	The PWM value for HBridgeA. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
MotorB	The PWM value for HBridgeB. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)

Definition at line 961 of file TFC.cpp.

Sets the servo channels.

Parameters:

ServoNumber	Which servo channel on the FRDM-TFC to use (0 or 1). 0 is the default channel for steering
Position	Angle setting for servo in a normalized (-1.0 to 1.0) form. The range of the servo can be changed with the InitServos function. This is called in the TFC constructor with some useful default values--> 20mSec period, 0.5mS min and 2.0mSec max. you may need to adjust these for your own particular setup.

Definition at line 567 of file TFC.cpp.

Pointer to two channels of line scan camera data.

Each channel is 128 points of uint8_t's. Note that the underlying implementation is ping-pong buffer These pointers will point to the inactive buffer.

Definition at line 342 of file TFC.cpp.

This flag will increment when a new frame is ready.

Check for a non zero value (and reset to zero!) when you want to read the camera(s)

Definition at line 344 of file TFC.cpp.

ServoTicker will increment once every servo cycle.

It can be used to synchronize events to the start of a servo cycle. ServoTicker is a volatile uint32_t and is updated in the TPM1 overlflow interrupt. This means you will see ServoTicker increment on the rising edge of the servo PWM signal

Definition at line 351 of file TFC.cpp.