Andy K / Mbed 2 deprecated Roomba

Roomba robot class

Dependencies:   mbed

main.cpp@0:b26b94a6a065, 2010-12-01 (annotated)

Committer:
AjK
Date:
Wed Dec 01 19:20:43 2010 +0000
Revision:
0:b26b94a6a065
0.1 Untested

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AjK 0:b26b94a6a065 1
AjK 0:b26b94a6a065 2 #include "Roomba.h"
AjK 0:b26b94a6a065 3
AjK 0:b26b94a6a065 4 DigitalOut myled(LED1);
AjK 0:b26b94a6a065 5 Roomba roomba(p9, p10);
AjK 0:b26b94a6a065 6
AjK 0:b26b94a6a065 7 int main() {
AjK 0:b26b94a6a065 8
AjK 0:b26b94a6a065 9 // Examples of sending commands. Note that when
AjK 0:b26b94a6a065 10 // teh function returns, if it was successful
AjK 0:b26b94a6a065 11 // it returns the command code. Otherwise it
AjK 0:b26b94a6a065 12 // will return Roomba::NotIdle which means it
AjK 0:b26b94a6a065 13 // couldn't send the command because the serial
AjK 0:b26b94a6a065 14 // port was busy reading sensor data.
AjK 0:b26b94a6a065 15 int result = roomba.command(Roomba::CmdPower);
AjK 0:b26b94a6a065 16 if (result != Roomba::CmdPower) {
AjK 0:b26b94a6a065 17 // Failed to send command because the
AjK 0:b26b94a6a065 18 // serial port was busy getting sensor data
AjK 0:b26b94a6a065 19 }
AjK 0:b26b94a6a065 20
AjK 0:b26b94a6a065 21 // A sure fire way to make the command happen.
AjK 0:b26b94a6a065 22 while (roomba.command(Roomba::CmdPower) != Roomba::CmdPower);
AjK 0:b26b94a6a065 23
AjK 0:b26b94a6a065 24 // Some commands have additional bytes, heres an example
AjK 0:b26b94a6a065 25 char leds[3];
AjK 0:b26b94a6a065 26 leds[0] = 0x01; // First byte sent
AjK 0:b26b94a6a065 27 leds[1] = 0x05;
AjK 0:b26b94a6a065 28 leds[2] = 0x76; // Last byte sent
AjK 0:b26b94a6a065 29 roomba.command(Roomba::CmdLeds, 3, leds);
AjK 0:b26b94a6a065 30
AjK 0:b26b94a6a065 31 // Sensors are read automartically. Here's how we
AjK 0:b26b94a6a065 32 // get the wall sensor and voltage values.
AjK 0:b26b94a6a065 33 uint8_t wall = roomba.sensor(Roomba::wall);
AjK 0:b26b94a6a065 34 uint16_t voltage = roomba.sensor(Roomba::voltage);
AjK 0:b26b94a6a065 35
AjK 0:b26b94a6a065 36 // Note, when reading sensor data make sure your variable
AjK 0:b26b94a6a065 37 // is of the right type, either uint8_t for single byte
AjK 0:b26b94a6a065 38 // and uint16_t for double byte variables.
AjK 0:b26b94a6a065 39
AjK 0:b26b94a6a065 40 while(1) {
AjK 0:b26b94a6a065 41 myled = 1;
AjK 0:b26b94a6a065 42 wait(0.2);
AjK 0:b26b94a6a065 43 myled = 0;
AjK 0:b26b94a6a065 44 wait(0.2);
AjK 0:b26b94a6a065 45 }
AjK 0:b26b94a6a065 46 }