92 typedef void (*message_tx_success_t)(void);
128 extern volatile uint16_t kilo_tx_period;
330 void delay(uint16_t ms);
567 void kilo_start(
void (*setup)(
void),
void (*loop)(
void));
uint8_t kilo_turn_right
Calibrated turn right duty-cycle.
uint8_t type
message type.
Definition: kilolib.h:36
void kilo_start(void(*setup)(void), void(*loop)(void))
Start kilobot event loop.
int16_t get_voltage()
Read the amount of battery voltage.
void set_color(uint8_t color)
Set the output of the RGB led.
int16_t get_ambientlight()
Read the amount of ambient light.
uint8_t estimate_distance(const distance_measurement_t *d)
Estimate distance in mm based on signal strength measurements.
int16_t get_temperature()
Read the temperature of the kilobot.
uint16_t message_crc(const message_t *msg)
Function to compute the CRC of a message struct.
uint8_t kilo_turn_left
Calibrated turn left duty-cycle.
Distance measurement.
Definition: kilolib.h:85
void kilo_init()
Initialize kilobot hardware.
uint16_t kilo_uid
Kilobot unique identifier.
uint8_t kilo_straight_left
Calibrated straight (left motor) duty-cycle.
uint8_t rand_soft()
Software random number generator.
message_rx_t kilo_message_rx
Callback for message receiption.
void set_motors(uint8_t left, uint8_t right)
Set the power of each motor.
void delay(uint16_t ms)
Pauses the program for the specified amount of time.
int16_t high_gain
High gain 10-bit signal-strength measurement.
Definition: kilolib.h:87
void spinup_motors()
Turn motors at full-speed for 15ms.
message_tx_success_t kilo_message_tx_success
Callback for successful message transmission.
void rand_seed(uint8_t seed)
Seed software random number generator.
Message structure.
Definition: kilolib.h:34
volatile uint32_t kilo_ticks
Kilobot clock variable.
message_tx_t kilo_message_tx
Callback for message transmission.
uint8_t kilo_straight_right
Calibrated straight (right motor) duty-cycle.
uint16_t crc
message crc.
Definition: kilolib.h:37
int16_t low_gain
Low gain 10-bit signal-strength measurement.
Definition: kilolib.h:86
uint8_t rand_hard()
Hardware random number generator.