animations.h

00001 /* University of York Robotics Laboratory PsiSwarm Library: Animations Header File
00002  * 
00003  * Copyright 2016 University of York
00004  *
00005  * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. 
00006  * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
00007  * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
00008  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
00009  * See the License for the specific language governing permissions and limitations under the License.
00010  *
00011  * Library of simple predetermined movements
00012  *
00013  * File: animations.h
00014  * [Was dances.h in version 0.7]
00015  *
00016  * (C) Dept. Electronics & Computer Science, University of York
00017  * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
00018  *
00019  * PsiSwarm Library Version: 0.8
00020  *
00021  * October 2016
00022  *
00023  *
00024  */
00025 
00026 #ifndef ANIMATIONS_H
00027 #define ANIMATIONS_H
00028 
00029 /**
00030  *  The Animations class contains simple predefined LED animations and dances
00031 */
00032 class Animations{
00033     public:
00034     /**
00035      * Make the robot vibrate (turn rapidly left & right) for approximately 1 second with LED flashes; restores LED states after action
00036     */
00037     void vibrate(void);
00038     
00039     /**
00040      * Patterns LEDs from back to front of robot 3 times then blinks at the front; animation takes about 1 second; restores LED states after action
00041       */
00042     void led_run1(void);
00043     
00044     /** 
00045      * Sets the colour for single-colour LED animations (default = 1)
00046      * @param colour The colour LED to use in the animation (1 = red, 2 = green, 3 = orange)
00047      */
00048     void set_colour(char colour);
00049 
00050     private:
00051     char hold_colour;
00052     char animation_counter;
00053     Timeout animation_timeout;
00054 };
00055 
00056 #endif