9 Library Functions

Library files provide standard C functions for interfacing with hardware on the Handy Board. These functions are written either in C or as assembly language drivers. Library files provide functions to do things like control motors, make tones, and input sensors values.

IC automatically loads the library file every time it is invoked. The name of the default library file is is contained as a resource within the IC application. On command-line versions of IC , this resource may be modified by invoking `` ic -config''. On the Macintosh, the IC application has a STR resource that defines the name of the library file.

The Handy Board's root library file is named lib_hb.lis.

• 9.1 Output Control
  • 9.1.1 DC Motors
    • void fd(int m)
    • void bk(int m)
    • void off(int m)
    • void alloff()
    • void ao()
    • void motor(int m, int p)
  • 9.1.2 Servo Motor
    • void servo_on()
    • void servo_on()
    • int servo(int period)
    • int servo_rad(float angle)
    • int servo_deg(float angle)
• 9.2 Sensor Input
  • int digital(int p)
  • int analog(int p)
  • 9.2.1 User Buttons and Knob
    • int stop_button()
    • int start_button()
    • void stop_press()
    • void start_press()
    • int knob()
  • 9.2.2 Infrared Subsystem
    • int sony_init(1)
    • int sony_init(0)
    • int ir_data(int dummy)
• 9.3 Time Commands
  • void reset_system_time()
  • long mseconds()
  • float seconds()
  • void sleep(float sec)
  • void msleep(long msec)
• 9.4 Tone Functions
  • void beep()
  • void tone(float frequency, float length)
  • void set_beeper_pitch(float frequency)
  • void beeper_on()
  • void beeper_off()