AVR Library Command Reference

int read_temperature_c()

This method is the same as readTemperatureF() above, except that it returns the temperature in tenths of a degree

Celcius.

static int readBatteryMillivolts_3pi()

int read_battery_millivolts_3pi()

Performs 10 analog-to-digital conversions on the battery voltage sensing circuit of the 3pi and returns the average

result in millivolts. A result of 5234 would mean a battery voltage of 5.234 V. For rechargeable NiMH batteries,

the voltage usually starts at a value above 5 V and drops to around 4 V before the robot shuts off, so monitoring

this number can be helpful in determining when to recharge batteries.

static int readBatteryMillivolts_SV168()

int read_battery_millivolts_sv168()

Just like read_battery_millivolts_3pi() above, but uses the correct voltage factor for the Orangutan SV-168. The

minimum operating voltage for the SV-168 is 6 V, but if the batteries drop significantly below their rated value,

whatever it is, they should be recharged. For example, a six-cell NiMH pack should be recharged if it drops below

about 7 V.

static void OrangutanAnalog::startConversion(unsigned char channel)

void start_analog_conversion(unsigned char channel)

Initiates an ADC conversion that runs in the background, allowing the CPU to perform other tasks while the

conversion is in progress. The procedure is to start a conversion on an analog input with this method, then poll

isConverting() in your main loop. Once isConverting() returns a zero, the result can be obtained through a call to

conversionResult() and this method can be used to start a new conversion.

static unsigned char OrangutanAnalog::isConverting()

unsigned char analog_is_converting()

Returns a 1 if the ADC is in the middle of performing a conversion, otherwise it returns a 0. The ATmega168 is

only capable of performing one analog-to-digital conversion at a time.

static unsigned int conversionResult()

unsigned int analog_conversion_result()

Returns the result of the previous analog-to-digital conversion. In 8-bit mode, the result will range from 0 – 255

for voltages from 0 – 5 . In 10-bit mode, the result will range from 0 – 1023 for voltages from 0 – 5 V.

static unsigned int toMillivolts(unsigned int adcResult)

static unsigned int to_millivolts(unsigned int adc_result)

Converts the result of an analog-to-digital conversion to millivolts. This assumes a board power level of exactly

5000 mV.

Example:

OrangutanAnalog::toMillivolts(OrangutanAnalog::read(0));

// e.g. will return 5000 if analog input 0 is at 5 V

3. Orangutan Analog-to-Digital Conversion Page 7 of 35