mindsensors-sensormux-test1.c

#pragma config(Sensor, S1,     MSSMUX,         sensorI2CCustom)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*
 * $Id: mindsensors-sensormux-test1.c 133 2013-03-10 15:15:38Z xander $
 */

/**
 * mindsensors-sensormux.h provides an API for the Mindsensors SensorMUX Sensor.
 * This program demonstrates how to use that API to read multiple sensors
 *
 * Changelog:
 * - 0.1: Initial release
 *
 * Credits:
 * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.
 *
 * License: You may use this code as you wish, provided you give credit where it's due.
 *
 * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. 

 * Xander Soldaat (xander_at_botbench.com)
 * 03 March 2013
 * version 0.1
 */

#include "drivers/mindsensors-sensormux.h"
#include "drivers/mindsensors-angle.h"
#include "drivers/mindsensors-accelerometer.h"

task main()
{
  int voltage = 0;
  int angle;
  int x, y, z;
  nxtDisplayCenteredTextLine(0, "Mindsensors");
  nxtDisplayCenteredBigTextLine(1, "SnsrMUX");
  nxtDisplayCenteredTextLine(3, "Test 1");

  wait1Msec(2000);
  eraseDisplay();

  nxtDisplayCenteredTextLine(0, "SensorMUX");
  nxtDisplayCenteredTextLine(1, "Multi-test");
  while(true)
  {
    // Read the voltage of the battery connected to the SMUX
    // This returns a value in mV
    voltage = MSSMUXreadBattery(MSSMUX);

    // To read from a specific channel, you must switch
    // to it and then set up the port for that specific sensor

    // We have a Mindsensors accelerometer attached to channel 1
    MSSMUXsetChan(MSSMUX, 1);
    SetSensorType(MSSMUX, sensorI2CCustomFastSkipStates);
    MSACreadAccel(MSSMUX, x, y, z);

    // We have a Angle Sensor attached to channel 2
    MSSMUXsetChan(MSSMUX, 2);
    SetSensorType(MSSMUX, sensorI2CCustomFastSkipStates);
    angle = MSANGreadAngle(MSSMUX);

    nxtDisplayTextLine(3, "Batt: %d mV", voltage);
    nxtDisplayTextLine(4, "Angle: %d deg", angle);
    nxtDisplayTextLine(5, "Tilt: ");
    nxtDisplayTextLine(6, "%d, %d, %d", x, y, z);
  }
}