WebbotLib Reference
Directory
- sys - Configure WebbotLib by including the correct definition file for your board.
- DC Motors - Support for various DC motor controllers.
- Stepper - Support for various stepper motor controllers.
- Sensors - Sensors allow your program to sample inputs from the real world: acceleration, humidity, current, voltage, etc as well as 'eyes' that can view the unobstructed distance ahead, colours etc.
- Displays - Adds support for various standalone display hardware.
- Cameras - Support for various different Cameras.
- Storage - This folder contains code which can be used to store data to persistent storage.
- Servos - Adds support for serial and I2C servo controllers as well as other intelligent servos such as the AX12.
- Controller - Add support for hand held controllers.
- Gait - Adds support for using gaits in both design mode and free running mode.
- Maths - The Maths folder contains various helper routines for more complex mathematical processing such as Vectors and Matrices.
- RTC - Adds support for various real time clocks (RTC) as of Version 2.07.
File
- a2d.h - Performs analogue to digital conversion (ADC).
- actuators.h - Contains constants, datatypes, and common commands for actuators eg: servos and motors.
- buffer.h - Defines a 'first in first out circular' buffer which can be written to and read from by different tasks.
- core.h - This file is always included by the system file (SYS/*.h) that you use.
- color.h - Provides generic support for colour conversions.
- device.h - Defines items such as timers, uarts, IO pins, A2D channels etc that are available on this device. It is included automatically once you select a system and so should never be included directly within your own code.
- eeprom - Most AVR micro controllers contain some 'on-chip' EEPROM. This is memory that remembers its content even after the power is switched off.
- errors.h - "All programs run properly and never come across an unexpected situation" - said the inexperienced programmer!
- i2cBus.h - Provides support for communicating with other I2C slave devices/sensors.
- iopin.h - "Oh no! Not another way to use I/O pins"
- led.h - Extends an output pin to cope with an LED.
- segled.h - Support for an 8 segment LED display.
- libdefs.h - Defines various macros and datatypes that are used in the rest of the library.
- motorPWM.h - Controls DC motors using pulse width modulation (PWM).
- oneWireBus.h - Adds support for a Dallas One Wire bus.
- pid.h - Implements a PID (Proportional, Integral, Derivative) control loop.
- pinChange.h - Allow callback routines to be attached to IOPins that are called when the pin changes.
- pwm.h - Provides a generic way of generating a hardware PWM signal.
- rprintf.h - There are times when you need to create a formatted message that is made of a mixture of text and numbers. Normally this is used for logging purposes to log messages to a PC or LCD display.
- scheduler.h - Provides a scheduler mechanism whereby code can be queued up to be called at a later date. This is currently used to flash the status LED when an error occurs. NB the scheduler timer cannot be used to time/measure fast events of less than 1ms ie certainly not to send pulses to a servo or for PWM to servos. However it is fine for less time critical applications.
- servos.h - This is a servo driver for controlling servos that are plugged directly into your board and uses either software PWM, or hardware PWM, to send commands to each servo.
- spi.h - Routines for handling communications with other devices by using the hardware SPI interface.
- spisw.h - Allows you to simulate an SPI interface in software.
- spiUart.h - Allows you to simulate an SPI interface using a hardware UART that provides this ability.
- switch.h - This module allows you to wrap an IOPin to represent a switch or push button.
- timer.h - Defines Helper functions for the timers and compare channels.
- tone.h - Play a tone to any output pin for a fixed duration or until told to stop.
- uart.h - Routines for handling serial communications with other devices by using built-in UART hardware.
- uartsw.h - Simulates a UART in software.
- Audio/SOMO14D.h - The SOMO14D is an audio file playback device.
- Audio/Text2Speech/Text2Speech.h - Implements a voice synthesiser using a single hardware PWM pin.
- Communication/DroneCell.h - Adds support for the DroneCell - currently limited to text messaging.
