User manual

Copyright © Dr Robot Inc. 2005
64
V. WiRobot DRK6080/8080 Specific APIs
V.1 Low Level Protection
When bumpers (optional) are installed on WiRobot
RDK6080/8080 with the connection configuration shown
on the right, a build-in low-level bumper collision protection
scheme can be enabled or disabled with the next two
commands. When this bumper protection feature is enabled:
• The wheels will stop moving forward when either
bumper 0 or 1 is engaged, there will be not affect if
the wheels are moving backward.
• The wheels will stop moving backward when either
bumper 2 or 3 is engaged, there will be not affect if
the wheels are moving forward.
• The bumpers are connected to custom digital I/O
0, 1, 2, and 3.
126 void EnableBumperProtection();
Description: This will enable the low level bumper protection feature.
EnableBumperProtection xxxx.
Syntax: EnableBumperProtection ();
Parameter: void;
Return value: void
Remarks:
By default, the bumper protection feature is disabled when system is booted up.
127 void DisableBumperProtection();
Description: This will disable the low level bumper protection feature.
DisableBumperProtection xxxx.
Syntax: DisableBumperProtection ();
Parameter: void;
Return value: void
D_IN0 D_IN1
D_IN2 D_IN3
Front
Left
Wheel
Bumper_0 Bumper_1
Bumper_2 Bumper_3
Right
Wheel
Figure V.1 WiRobot RDK6080/8080
Bumper Connection Configuration