short getSensorValue(Sensor s) {
short retVal = -1;
switch (s.type) {
case SHAFT_ENCODER:
if (DEBUG) {
print("got encoder value");
}
retVal = (short)encoderGet(s.enc);
break;
case GYROSCOPE:
retVal = (short)gyroGet(s.gyr);
break;
case ULTRASONIC:
retVal = (short)ultrasonicGet(s.ult);
break;
case ACCELEROMETER:
retVal = (short)analogReadCalibratedHR(s.port);
break;
case BUMPER_SWITCH:
case LIMIT_SWITCH:
retVal = (short)digitalRead(s.port);
break;
case LINE_TRACKER:
case POTENTIOMETER:
retVal = (short)analogRead(s.port);
break;
case TIME:
retVal = (short)getTimer(s.port, true);
break;
case IME: ; // so apparently due to history this ";" has to be here to declare
// a variable inside a case statement?
int imeVal = -1;
imeGet(s.port, &imeVal);
retVal = (short)imeVal;
break;
}
return retVal;
}
void Accelerometer::pollSensor()
{
if(sensorport != 13)
curval = analogReadCalibratedHR(sensorport);
}