robot.cpp

00001 #include "robot.h"
00002 
00003 void initializeRobot() {
00004     printLCD("Initializing", NULL);
00005     // wait for Roomba to power up to accept serial commands
00006     wait(2);
00007     // set baud rate for Roomba factory default
00008     device.baud(57600);
00009     // Start command mode and select sensor data to send back
00010     start();
00011     
00012     //define songs
00013     //one beep
00014     device.printf("%c%c%c%c%c", Song, char(1), char(1), char(69), char(16));
00015     wait(1);
00016     //georgia tech fight song, split into 3 songs because max song length is 16
00017     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));
00018     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));
00019     //a major arpeggio
00020     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));
00021     clearLCD();
00022 }
00023 
00024 // Start  - send start and safe mode, start streaming sensor data
00025 void start() {
00026    // device.printf("%c%c", Start, SafeMode);
00027     device.putc(Start);
00028     wait(.1);
00029     device.putc(Control);
00030     wait(.5);
00031   //  device.printf("%c%c", SensorStream, char(1));
00032     device.putc(Sensors);
00033     device.putc(BumpsandDrops);
00034     wait(.5);
00035 }
00036 // Stop  - turn off drive motors
00037 void stop() {
00038     device.printf("%c%c%c%c%c", Drive, char(0),  char(0),  char(0),  char(0));
00039 }
00040 // Forward  - turn on drive motors
00041 void forward() {
00042     device.printf("%c%c%c%c%c", Drive, char((speed>>8)&0xFF),  char(speed&0xFF),  
00043     char((radius>>8)&0xFF),  char(radius&0xFF));
00044  
00045 }
00046 // Reverse - reverse drive motors
00047 void reverse() {
00048     device.printf("%c%c%c%c%c", Drive, char(((-speed)>>8)&0xFF),  char((-speed)&0xFF),  
00049     char(((radius)>>8)&0xFF),  char((radius)&0xFF));
00050  
00051 }
00052 // Left - drive motors set to rotate to left
00053 void left() {
00054     device.printf("%c%c%c%c%c", Drive, char((speed>>8)&0xFF),  char(speed&0xFF),  
00055     char(((1)>>8)&0xFF),  char((1)&0xFF));
00056 }
00057 // Right - drive motors set to rotate to right
00058 void right() {
00059     device.printf("%c%c%c%c%c", Drive, char(((speed)>>8)&0xFF),  char((speed)&0xFF),  
00060     char((-1>>8)&0xFF),  char(-1&0xFF));
00061  
00062 }
00063 // Charger - search and return to charger using IR beacons (if found)
00064 void charger() {
00065     device.printf("%c", Clean );
00066     wait(.2);
00067     device.printf("%c", CoverandDock );
00068 }
00069 // Play Song  - play a song
00070 void playsong(int mag) { //Play song
00071     if(mag == 2) { //play rest of georgia tech fight song
00072         device.printf("%c%c%c%c%c%c%c%c", NewScript, char(6), PlaySong, char(2), WaitTime, char(20), PlaySong, char(14));
00073         device.printf("%c", DoScript);
00074     }
00075     else {
00076         device.printf("%c%c", PlaySong, char(mag));
00077     }
00078 }