ENIgma SensorBoard

This is the code for the SensorBoard of robots Summer and Winter.

Serial Interface

All commands end with ; and all answers end with ; too.

In the examples, the carets are only there to specify the direction of the message. > are sent to the board and < are sent by the board.

Whois

Permits identification of the board.

Command: whois
Answer: Name of the board

Example:

> whois;
< SensorBoard;

Digital Sensors

Read all sensors and send their values.

Command: dsensors
Answer: First answer is sending; then Y,X;, where X is either 0 or 1 depending on the sensor Y value. This is sent one time for each sensor.

Example:

> dsensors;
< sending;0,1;1,0;2,0;3,0;4,0;5,0;6,1;7,1;8,1;

Getting only one value

Reads only the called sensor.

Command: sensorY, where Y is the number of the sensor, from 0 to 7.
Answer: Y,X, where X is either 0 or 1 depending on the sensor value.

Examples:

> sensor2;
< 2,0;
> sensor7;
< 7,1;

Digital Outputs

On this board, each sensor plug comes with a digital output. This is the command to set their values.

Command: setoutsXXXXXXXX, where X is the output value for that sensor, either 0 or 1.
Answer: done, when all outputs are configured.

Example:

> setouts01000110;
< done;

(De)Activate watching

Watching can be enabled (and disabled) on the board. See Watching for more info.

Commands: activate and deactivate
Answer: done

Watching

Watching can be enabled (and disabled) on the board. See (De)Activate watching for more info on activating and deactivating it.

When watching is enabled, the board will automatically send values if a sensor value changes. The send data is in the form sensor#,value with sensor# the number of the sensor between 0 and 7 and value either 0 or 1 depending on the sensor new value.