main.cpp

00001 
00002 #include "Roomba.h"
00003 
00004 DigitalOut myled(LED1);
00005 Roomba roomba(p9, p10);
00006 
00007 int main() {
00008 
00009     // Examples of sending commands. Note that when
00010     // teh function returns, if it was successful
00011     // it returns the command code. Otherwise it 
00012     // will return Roomba::NotIdle which means it
00013     // couldn't send the command because the serial
00014     // port was busy reading sensor data.
00015     int result = roomba.command(Roomba::CmdPower);
00016     if (result != Roomba::CmdPower) {
00017         // Failed to send command because the 
00018         // serial port was busy getting sensor data
00019     }
00020     
00021     // A sure fire way to make the command happen.
00022     while (roomba.command(Roomba::CmdPower) != Roomba::CmdPower);
00023     
00024     // Some commands have additional bytes, heres an example
00025     char leds[3];
00026     leds[0] = 0x01; // First byte sent
00027     leds[1] = 0x05;
00028     leds[2] = 0x76; // Last byte sent
00029     roomba.command(Roomba::CmdLeds, 3, leds);
00030         
00031     // Sensors are read automartically. Here's how we
00032     // get the wall sensor and voltage values.    
00033     uint8_t  wall    = roomba.sensor(Roomba::wall);    
00034     uint16_t voltage = roomba.sensor(Roomba::voltage);
00035     
00036     // Note, when reading sensor data make sure your variable
00037     // is of the right type, either uint8_t for single byte
00038     // and uint16_t for double byte variables. 
00039       
00040     while(1) {
00041         myled = 1;
00042         wait(0.2);
00043         myled = 0;
00044         wait(0.2);    
00045     }
00046 }