Diff: robot.cpp

Revision:

0:9fd64882c5aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.cpp	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,78 @@
+#include "robot.h"
+
+void initializeRobot() {
+    printLCD("Initializing", NULL);
+    // wait for Roomba to power up to accept serial commands
+    wait(2);
+    // set baud rate for Roomba factory default
+    device.baud(57600);
+    // Start command mode and select sensor data to send back
+    start();
+    
+    //define songs
+    //one beep
+    device.printf("%c%c%c%c%c", Song, char(1), char(1), char(69), char(16));
+    wait(1);
+    //georgia tech fight song, split into 3 songs because max song length is 16
+    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(2), char(16), char(67), char(18), char(0), char(2), char(65), char(9), char(0), char(2), char(63), char(18), char(0), char(2), char(63), char(9), char(0), char(2), char(63), char(18), char(0), char(2), char(65), char(9), char(0), char(2), char(67), char(18), char(0), char(2), char(67), char(9), char(0), char(2));
+    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(14), char(16), char(67), char(9), char(0), char(2), char(65), char(9), char(0), char(2), char(63), char(9), char(0), char(2), char(65), char(9), char(0), char(2), char(65), char(9), char(0), char(2), char(65), char(9), char(0), char(2), char(63), char(18), char(0), char(2), char(62), char(9), char(63), char(54));
+    //a major arpeggio
+    device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", Song, char(3), char(7), char(69), char(32), char(73), char(32), char(76), char(32), char(81), char(32), char(76), char(32), char(73), char(32), char(69), char(32));
+    clearLCD();
+}
+
+// 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  - play a song
+void playsong(int mag) { //Play song
+    if(mag == 2) { //play rest of georgia tech fight song
+        device.printf("%c%c%c%c%c%c%c%c", NewScript, char(6), PlaySong, char(2), WaitTime, char(20), PlaySong, char(14));
+        device.printf("%c", DoScript);
+    }
+    else {
+        device.printf("%c%c", PlaySong, char(mag));
+    }
+}
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