behaviorSystem.h File Reference

Behaviors associated with robot movement. More...

Go to the source code of this file.

Data Structures
struct	Beh
	Structure for robot behaviors. More...

Typedefs
typedef struct Beh	Beh
	Structure for robot behaviors.

Functions
void	behaviorSystemInit (void(*behaviorTask)(void *parameters), uint32 stackSize)
	Initializes the behavior system task. More...
void	motorSetBeh (Beh *behPtr)
	Moves the robot based on the input motor behavior. More...
uint8	behGetTv (Beh *behPtr)
	Gets translational velocity. More...
void	behSetTvRv (Beh *behPtr, int32 tv, int32 rv)
	Sets the input behavior's translational and rotational velocities. More...
void	behSetTv (Beh *behPtr, int32 tv)
	Sets the input behavior's translational velocity. More...
void	behSetRv (Beh *behPtr, int32 rv)
	Sets the input behavior's rotational velocity. More...
uint8	behGetRv (Beh *behPtr)
	Gets the input behavior's rotational velocity. More...
uint8	behIsActive (Beh *behPtr)
	Tells whether or not the input behavior is active. More...
void	behSetActive (Beh *behPtr)
	Sets the input behavior to active. More...
void	behSetInactive (Beh *behPtr)
	Sets the input behavior to inactive. More...
boolean	buttonModeRGB (uint8 *modePtr, uint8 modeRed, uint8 modeGreen, uint8 modeBlue)
	Determines if the red, green, or blue button has been pressed. More...
Beh *	behSubsume (Beh *behOutPtr, Beh *behInLoPtr, Beh *behInHighPtr)
	Subsume a low priority behavior with a high priority one. More...

Detailed Description

Behaviors associated with robot movement.

Since

September 11, 2011

Author

James McLurkin

Function Documentation

void behaviorSystemInit	(	void(*)(void *parameters)	behaviorTask,
		uint32	stackSize
	)

Initializes the behavior system task.

Returns

void

uint8 behGetRv

(

Beh *

behPtr)

Gets the input behavior's rotational velocity.

Parameters

behPtr

for behavior

Returns

the rotational velocity of the input behavior

uint8 behGetTv

(

Beh *

behPtr)

Gets translational velocity.

Parameters

behPtr

for behavior

Returns

translational velocity of input behavior

uint8 behIsActive

(

Beh *

behPtr)

Tells whether or not the input behavior is active.

Parameters

behPtr

for behavior

Returns

a 1 if the behavior is active and 0 if inactive

void behSetActive

(

Beh *

behPtr)

Sets the input behavior to active.

Parameters

behPtr

for behavior

Returns

void

void behSetInactive

(

Beh *

behPtr)

Sets the input behavior to inactive.

Parameters

behPtr

for behavior

Returns

void

void behSetRv	(	Beh *	behPtr,
		int32	rv
	)

Sets the input behavior's rotational velocity.

Parameters

behPtr	for behavior to update
rv	desired rotational velocity

Returns

void

void behSetTv	(	Beh *	behPtr,
		int32	tv
	)

Sets the input behavior's translational velocity.

Parameters

behPtr	for behavior to update
tv	desired translational velocity

Returns

void

void behSetTvRv	(	Beh *	behPtr,
		int32	tv,
		int32	rv
	)

Sets the input behavior's translational and rotational velocities.

Parameters

behPtr	for behavior to update
tv	desired translational velocity
rv	desired rotational velocity

Returns

void

Beh* behSubsume	(	Beh *	behOutPtr,
		Beh *	behInLoPtr,
		Beh *	behInHighPtr
	)

Subsume a low priority behavior with a high priority one.

Compute behOutPtr by subsuming behInLoPtr with behInHighPtr if behInHighPtr is active. Otherwise, behOutPtr is set to behInLoPtr.

Parameters

behInLoPtr	low-priority input behavior
behInHighPtr	high-priority input behavior
behOutPtr	output behavior

Returns

behOutPtr

boolean buttonModeRGB	(	uint8 *	modePtr,
		uint8	modeRed,
		uint8	modeGreen,
		uint8	modeBlue
	)

Determines if the red, green, or blue button has been pressed.

Updates the input modePtr to indicate which color has been pressed.

Parameters

modePtr	for the mode to update if a button has been pressed
modeRed	the mode that should be set if the red button has been pressed
modeGreen	the mode that should be set if the green button has been pressed
modeBlue	the mode that should be set if the blue button has been pressed

Returns

a boolean TRUE if a button has been pressed (and therefore modePtr updated) and FALSE if not

void motorSetBeh

(

Beh *

behPtr)

Moves the robot based on the input motor behavior.

If the input behavior is inactive, the motors are not turned on.

Parameters

behPtr

for desired motor behavior

Returns

void