Pololu 3pi Robot - Manual (Page 56)

break;
case (char)0x87:
send_calibrated_sensor_values(1);
break;
case (char)0xB0:
send_trimpot();
break;
case (char)0xB1:
send_battery_millivolts();
break;
case (char)0xB3:
do_play();
break;
case (char)0xB4:
calibrate_line_sensors(IR_EMITTERS_ON);
send_calibrated_sensor_values(1);
break;
case (char)0xB5:
line_sensors_reset_calibration();
break;
case (char)0xB6:
send_line_position();
break;
case (char)0xB7:
do_clear();
break;
case (char)0xB8:
do_print();
break;
case (char)0xB9:
do_lcd_goto_xy();
break;
case (char)0xBA:
auto_calibrate();
break;
case (char)0xBB:
set_pid();
break;
case (char)0xBC:
stop_pid();
break;
case (char)0xC1:
m1_forward();
break;
case (char)0xC2:
m1_backward();
break;
case (char)0xC5:
m2_forward();
break;
case (char)0xC6:
m2_backward();
break;
default:
clear();
print("Bad cmd");
lcd_goto_xy(0,1);
print_hex_byte(command);
play("o7l16crc");
continue; // bad command
}
}
}
10.b. Serial master program
A serial master program used to control the serial slave program is included with the Pololu AVR Library (see Section
6 ) in
libpololu-avr\examples\atmegaxx8\3pi-serial-master
. The program is designed to run on an Orangutan
SV-xx8 [http://www.pololu.com/product/1227] , LV-168 [http://www.pololu.com/product/775] , or 3pi as a demonstration of what
is possible, but you will probably want to adapt it for your own controller. To use the program, make the following
connections between your master and slave:
Pololu 3pi Robot User's Guide © 2001–2014 Pololu Corporation
10. Expansion Information Page 56 of 63