Diff: robot.h

Revision:

4:c2e933d53bea

Parent:

3:8762f6b2ea8d

Child:

5:6da8daaeb9f7

diff -r 8762f6b2ea8d -r c2e933d53bea robot.h
--- a/robot.h	Mon Nov 28 22:41:14 2016 +0000
+++ b/robot.h	Mon Jan 02 15:17:22 2017 +0000
@@ -1,5 +1,3 @@
-
-
 #ifndef ROBOT_H
 #define ROBOT_H
 
@@ -8,9 +6,16 @@
 #include "sensors.h"
 #include "motors.h"
 #include "calibration.h"
+#include "serialcomms.h"
 
 #define LED_ADDRESS 0xC0
 #define ADC_ADDRESS 0x90
+#define COMMAND_MESSAGE_BYTE 0x1D
+#define ACKNOWLEDGE_MESSAGE_BYTE 0x1E
+#define RESPONSE_MESSAGE_BYTE 0x1F
+#define STATUS_MESSAGE_BYTE 0x1C
+#define IR_MESSAGE_BYTE 0x1B
+#define SOFTWARE_VERSION_CODE 0.10
 
 // SERIAL INTERFACES SETTINGS 
 
@@ -24,15 +29,15 @@
 /* BLUETOOTH_BAUD [recommended=115200]:  Baud rate for the BlueSMIRF module */
 #define BLUETOOTH_BAUD 115200
 
-/* PC_BAUD [recommended=460800 for optimal performance, 115200 for compatability]:  Baud rate for the PC USB serial module */
-//#define PC_BAUD 460800
-#define PC_BAUD 115200
+/* PC_BAUD [recommended=460800 for optimal performance with RPi, 115200 for compatability]:  Baud rate for the RPi USB serial module */
+//#define PC_BAUD 115200
+#define PC_BAUD 460800
 
 /* DEBUG_MODE [1=on, 0=off]:  Enable to allow debug messages to be sent of one of the serial interfaces */
 #define DEBUG_MODE 1
 
-/* DEBUG_OUTPUT_STREAM [1=PC\USB 2=BlueSmirf 4=Display]:  Specify which output stream(s) should be used by default for debug messages, if enabled*/
-#define DEBUG_OUTPUT_STREAM 1
+/* DEBUG_OUTPUT_STREAM [1=PC\USB 2=BlueSmirf 4=Display]:  Specify which output stream(s) should be used by default for debug messages, if enabled.  Recommended to use BT for debug messages.*/
+#define DEBUG_OUTPUT_STREAM 2
 
 // To update sensors 10 times a second (8 x 0.0125 = 0.1)
 #define SENSOR_TICKER_PERIOD 0.0125
@@ -51,13 +56,18 @@
 extern DigitalOut mbed_led2;
 extern DigitalOut mbed_led3;
 extern DigitalOut mbed_led4;
+extern DigitalOut case_led;
 extern AnalogIn vin_battery;
 extern Serial pc;
+extern Serial bt;
+extern SerialComms serial;
 extern Led led;
 extern Sensors sensors;
 extern Motors motors;
 extern volatile char i2c_lock;
-extern char status_message [16];
+extern char debug_mode;
+extern char debug_output;
+extern char status_message [];
 
 /**
  *  The Robot class contains the core functions for the robot
@@ -94,21 +104,22 @@
      */
     void debug(const char* format, ...);
     
-    /**
-     * Setup the serial interfaces (pc, bt) at the correct baud rate and attach listeners
-     */
-    void setup_serial_interfaces(void);
     
     /**
-     * Updates the 14-byte status message
+     * Toggles the current state of the MBED case led (use with a ticker to blink LED etc)
      */
+    void case_led_toggle(void);
+    
+    
+    /**
+     * Update the global 8-character status message
+     */ 
     void update_status_message(void);
     
     private:
     void _update_minutes(void);
-    void _bt_rx_callback(void);
-    void _pc_rx_callback(void);
 };
 
 
+extern Robot robot;
 #endif
\ No newline at end of file