Roomba.h

00001 /*
00002     Copyright (c) 2010 Andy Kirkham
00003  
00004     Permission is hereby granted, free of charge, to any person obtaining a copy
00005     of this software and associated documentation files (the "Software"), to deal
00006     in the Software without restriction, including without limitation the rights
00007     to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008     copies of the Software, and to permit persons to whom the Software is
00009     furnished to do so, subject to the following conditions:
00010  
00011     The above copyright notice and this permission notice shall be included in
00012     all copies or substantial portions of the Software.
00013  
00014     THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015     IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016     FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017     AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018     LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019     OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020     THE SOFTWARE.
00021     
00022     @file          Roomba.h
00023     @purpose       http://mbed.org/forum/mbed/topic/1476
00024     @version       0.1 (untested)
00025     @date          Dec 2010
00026     @author        Andy Kirkham    
00027     @see           http://mbed.org/forum/mbed/topic/1476 
00028     @require       http://mbed.org/cookbook/MODSERIAL
00029 */
00030 
00031 #ifndef ROOMBA_H
00032 #define ROOMBA_H
00033 
00034 #include "mbed.h"
00035 #include "MODSERIAL.h"
00036 
00037 /**
00038  * @brief Class efinition of a Roomba robot.
00039  * @author Andy Kirkham
00040  * @see http://mbed.org/forum/mbed/topic/1476
00041  * @see http://mbed.org/cookbook/MODSERIAL
00042  *
00043  * <b>Roomba</b> manages communications with teh robot.
00044  * It exports a simple API to send commands or read
00045  * sensor data.
00046  *
00047  * This module requires MODSERIAL
00048  */
00049 class Roomba {
00050 public:
00051 
00052     // States (and commands)
00053     enum RoombaState { 
00054           Idle = 0
00055         , GetSensors
00056         , CmdStart = 128
00057         , CmdBaud
00058         , CmdControl
00059         , CmdSafe
00060         , CmdFull
00061         , CmdPower
00062         , CmdSpot
00063         , CmdClean
00064         , CmdMax
00065         , CmdDrive
00066         , CmdMotors
00067         , CmdLeds
00068         , CmdSong
00069         , CmdPlay
00070         , CmdSensors
00071         , CmdForceSeekingDock        
00072     };
00073     
00074     // Calltypes and return types
00075     enum CallType {
00076           NotIdle = -1
00077         , Ok = 0
00078         , Invoke = 1
00079         , SerialCallback    
00080     };
00081     
00082     
00083     // Indexes into array to select what var
00084     enum Sensor8bit {
00085           bumpsWheeldrops = 0
00086         , wall
00087         , cliffLeft
00088         , cliffFrontLeft
00089         , cliffFrontRight
00090         , cliffRight
00091         , virtualWall
00092         , motorOvercurrents
00093         , dirtDetectorLeft
00094         , dirtDetectorRight
00095         , remoteControlCommand
00096         , buttons
00097         , chargingState
00098         , temperature
00099         , NumOf8bitSensors
00100     };
00101     
00102     // Indexes into array to select what var
00103     enum Sensor16bit {
00104           distance
00105         , angle
00106         , voltage
00107         , charge        
00108         , current
00109         , capacity        
00110         , NumOf16bitSensors
00111     };
00112     
00113     Roomba(PinName tx, PinName rx) { init(tx, rx); }
00114     ~Roomba() { delete uart; delete tick; }
00115     
00116     int command(RoombaState cmd, int opts = 0, char *opt = (char *)NULL, bool block = true);
00117     
00118     uint8_t  sensor(Sensor8bit  idx) { return sensors8bit[idx]; }
00119     uint16_t sensor(Sensor16bit idx) { return sensors16bit[idx]; }
00120     
00121     // Interrupt callback functions.
00122     void cbSerial(void) { cmdSensors(SerialCallback); }
00123     void cbTicker(void) { cmdSensors(Invoke); } ;
00124     
00125 protected:
00126     int state;
00127     MODSERIAL *uart;
00128     Ticker    *tick;
00129     
00130     // Internal methods
00131     void init(PinName tx, PinName rx);
00132     int  cmdSensors(CallType type);
00133 
00134     // Sensor values. Populated with data
00135     // via ticker/serial interrupts. Available
00136     // to the user program via the .sensor() API
00137     // function.
00138     uint8_t  sensors8bit[NumOf8bitSensors];
00139     uint16_t sensors16bit[NumOf16bitSensors];
00140 };
00141 
00142 #endif