Diff: main.cpp

Revision:

0:b26b94a6a065

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 01 19:20:43 2010 +0000
@@ -0,0 +1,46 @@
+
+#include "Roomba.h"
+
+DigitalOut myled(LED1);
+Roomba roomba(p9, p10);
+
+int main() {
+
+    // Examples of sending commands. Note that when
+    // teh function returns, if it was successful
+    // it returns the command code. Otherwise it 
+    // will return Roomba::NotIdle which means it
+    // couldn't send the command because the serial
+    // port was busy reading sensor data.
+    int result = roomba.command(Roomba::CmdPower);
+    if (result != Roomba::CmdPower) {
+        // Failed to send command because the 
+        // serial port was busy getting sensor data
+    }
+    
+    // A sure fire way to make the command happen.
+    while (roomba.command(Roomba::CmdPower) != Roomba::CmdPower);
+    
+    // Some commands have additional bytes, heres an example
+    char leds[3];
+    leds[0] = 0x01; // First byte sent
+    leds[1] = 0x05;
+    leds[2] = 0x76; // Last byte sent
+    roomba.command(Roomba::CmdLeds, 3, leds);
+        
+    // Sensors are read automartically. Here's how we
+    // get the wall sensor and voltage values.    
+    uint8_t  wall    = roomba.sensor(Roomba::wall);    
+    uint16_t voltage = roomba.sensor(Roomba::voltage);
+    
+    // Note, when reading sensor data make sure your variable
+    // is of the right type, either uint8_t for single byte
+    // and uint16_t for double byte variables. 
+      
+    while(1) {
+        myled = 1;
+        wait(0.2);
+        myled = 0;
+        wait(0.2);    
+    }
+}