Diff: robot.h

Revision:

0:9fd64882c5aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.h	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,43 @@
+#ifndef _ROBOT_H
+#define _ROBOT_H
+
+#include "mbed.h"
+#include <vector>
+#include "LCDText.h"
+
+extern Serial device;
+ 
+// Definitions of iRobot Roomba SCI Command Numbers
+// See the Roomba SCI 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;
+const char         NewScript = 152;
+const char         DoScript = 153;
+const char         WaitTime = 155;
+const char         WaitAngle = 157;
+                /* iRobot Roomba Sensor IDs */
+const char         BumpsandDrops = 1;
+ 
+const int speed =  250;
+const int radius = 0x8000;
+void start();
+void forward();
+void reverse();
+void left();
+void right();
+void stop();
+void playsong(int mag);
+void charger();
+void initializeRobot();
+
+#endif
\ No newline at end of file