Diff: main.cpp

Revision:

0:78d882d33841

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 16 19:31:06 2014 +0000
@@ -0,0 +1,121 @@
+#include "mbed.h"
+
+Serial device(p9, p10);  // tx, rx
+
+// Definitions of iRobot Roomba SCI Command Numbers
+// See the Create OpenInterface manual for a complete list
+
+
+//                 Create Command              // Arguments
+const char         Start = 128;
+const char         Control = 130;
+const char         FullMode = 132;
+const char         Drive = 137;                // 4:   [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low]
+const char         Sensors = 142;              // 1:    Sensor Packet ID
+const char         CoverandDock = 143;         // 0:    Return to Charger
+const char         Clean = 135;                 // 0:    Start Cleaning
+const char         PlaySong = 141;
+const char         Song = 140;
+                /* iRobot Roomba Sensor IDs */
+const char         BumpsandDrops = 1;
+
+int speed =  400;
+int radius = 0x8000;
+void start();
+void forward();
+void reverse();
+void left();
+void right();
+void stop();
+void playsong();
+void charger();
+
+// Demo to move around using basic commands
+int main() {
+// wait for Roomba to power up to accept serial commands
+    wait(5);
+// set baud rate for Roomba factory default
+    device.baud(57600);
+// Start command mode and select sensor data to send back
+    start();
+    wait(.5);
+// Send commands to move around
+    forward();
+    wait(.5);
+    stop();
+    wait(.1);
+    reverse();
+    wait(.5);
+    left();
+    wait(1);
+    stop();
+    wait(.1);
+    right();
+    wait(1);
+    stop();
+    wait(.5);
+// Play a song
+    playsong();
+    wait(10);
+// Search for battery charger IR beacon
+    charger();
+}
+
+
+// Start  - send start and safe mode, start streaming sensor data
+void start() {
+   // device.printf("%c%c", Start, SafeMode);
+    device.putc(Start);
+    wait(.1);
+    device.putc(Control);
+    wait(.5);
+  //  device.printf("%c%c", SensorStream, char(1));
+    device.putc(Sensors);
+    device.putc(BumpsandDrops);
+    wait(.5);
+}
+// Stop  - turn off drive motors
+void stop() {
+    device.printf("%c%c%c%c%c", Drive, char(0),  char(0),  char(0),  char(0));
+}
+// Forward  - turn on drive motors
+void forward() {
+    device.printf("%c%c%c%c%c", Drive, char((speed>>8)&0xFF),  char(speed&0xFF),  
+    char((radius>>8)&0xFF),  char(radius&0xFF));
+
+}
+// Reverse - reverse drive motors
+void reverse() {
+    device.printf("%c%c%c%c%c", Drive, char(((-speed)>>8)&0xFF),  char((-speed)&0xFF),  
+    char(((radius)>>8)&0xFF),  char((radius)&0xFF));
+
+}
+// Left - drive motors set to rotate to left
+void left() {
+    device.printf("%c%c%c%c%c", Drive, char((speed>>8)&0xFF),  char(speed&0xFF),  
+    char(((1)>>8)&0xFF),  char((1)&0xFF));
+}
+// Right - drive motors set to rotate to right
+void right() {
+    device.printf("%c%c%c%c%c", Drive, char(((speed)>>8)&0xFF),  char((speed)&0xFF),  
+    char((-1>>8)&0xFF),  char(-1&0xFF));
+
+}
+// Charger - search and return to charger using IR beacons (if found)
+void charger() {
+    device.printf("%c", Clean );
+    wait(.2);
+    device.printf("%c", CoverandDock );
+}
+// Play Song  - define and play a song
+void playsong() { // Send out notes & duration to define song and then play song
+
+    device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", 
+                  Song, char(0), char(16), char(91), char(24), char(89), char(12), char(87), char(36), char(87),
+                  char(24), char(89), char(12), char(91), char(24), char(91), char(12), char(91), char(12), char(89),
+                  char(12),char(87), char(12), char(89), char(12), char(91), char(12), char(89), char(12), char(87),
+                  char(24), char(86), char(12), char(87), char(48));
+
+    wait(.2);
+    device.printf("%c%c", PlaySong, char(0));
+}
\ No newline at end of file