Getting Started

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BBR Line Board has two main communication methods:

1. Digital

2. I2C

Digital

Digital communication is a signal that is either HIGH (on) or LOW (off). This can be used for quick scanning from the sensor to determine if a more detailed reading is needed.

For example, in LightWeight soccer the robot is running a loop as fast as it can to detect the ball, however communication with a sensor can slow this loop down. By only checking to see if a signal is HIGH, the robot loop speed is kept fast. Another approach that is enabled by supporting this digital pin is interrupt handling. The microcontroller can run code in an interrupt handler as soon as the value changes, this can break out of the robot's main loop.

I2C

I2C is a common sensor communication method, a good overview can be found here.

An I2C read request can return a number of bytes that represent the value of the sensors. With a some bit shifting these bytes can inform the microcontroller of which sensors are currently active.