Yosuke Kirihata / Mbed 2 deprecated Nucleo_roomba

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Dependencies:   mbed

Roomba.cpp@0:32eb0835b5a3, 2015-01-20 (annotated)

Committer:
YosukeK
Date:
Tue Jan 20 15:58:19 2015 +0000
Revision:
0:32eb0835b5a3
Child:
1:aed433d882c9
First commit.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YosukeK 0:32eb0835b5a3 1 #include "mbed.h"
YosukeK 0:32eb0835b5a3 2 #include "Roomba.h"
YosukeK 0:32eb0835b5a3 3
YosukeK 0:32eb0835b5a3 4 /**
YosukeK 0:32eb0835b5a3 5 * @bref コンストラクタ
YosukeK 0:32eb0835b5a3 6 * @param tx
YosukeK 0:32eb0835b5a3 7 * @param rx
YosukeK 0:32eb0835b5a3 8 */
YosukeK 0:32eb0835b5a3 9 Roomba::Roomba(PinName tx, PinName rx, PinName led):
YosukeK 0:32eb0835b5a3 10 _s(tx, rx), _led(led){
YosukeK 0:32eb0835b5a3 11 count = 0;
YosukeK 0:32eb0835b5a3 12 timedOut = false;
YosukeK 0:32eb0835b5a3 13 _led = 0;
YosukeK 0:32eb0835b5a3 14 //_mode = Roomba::Mode::Off;
YosukeK 0:32eb0835b5a3 15 Roomba::mp = &Roomba::serialReceiveCallback;
YosukeK 0:32eb0835b5a3 16 _s.attach(this, Roomba::mp, Serial::RxIrq);
YosukeK 0:32eb0835b5a3 17 }
YosukeK 0:32eb0835b5a3 18
YosukeK 0:32eb0835b5a3 19
YosukeK 0:32eb0835b5a3 20 /**
YosukeK 0:32eb0835b5a3 21 * @bref コマンド送信インターフェースの実装
YosukeK 0:32eb0835b5a3 22 * @param e イベント引数
YosukeK 0:32eb0835b5a3 23 * @return true
YosukeK 0:32eb0835b5a3 24 */
YosukeK 0:32eb0835b5a3 25 bool Roomba::send(EventArg e) {
YosukeK 0:32eb0835b5a3 26 _led != _led;
YosukeK 0:32eb0835b5a3 27 Roomba::start();
YosukeK 0:32eb0835b5a3 28 Roomba::mode(Roomba::Full);//(Roomba::Mode::Full); If write struct Mode and no name enum, Compiler say no sutable constructor conver to enum...
YosukeK 0:32eb0835b5a3 29 Roomba::drive(e.leftWheetVelocity, e.rightWheelVelocity);
YosukeK 0:32eb0835b5a3 30
YosukeK 0:32eb0835b5a3 31 return true;
YosukeK 0:32eb0835b5a3 32 }
YosukeK 0:32eb0835b5a3 33
YosukeK 0:32eb0835b5a3 34 /**
YosukeK 0:32eb0835b5a3 35 * @bref コマンド送信結果受信時のインターフェースの実装
YosukeK 0:32eb0835b5a3 36 * @param result コマンド送信結果
YosukeK 0:32eb0835b5a3 37 */
YosukeK 0:32eb0835b5a3 38 void Roomba::notify(bool result) {
YosukeK 0:32eb0835b5a3 39 if (result == false) {
YosukeK 0:32eb0835b5a3 40 _led = 1;
YosukeK 0:32eb0835b5a3 41 } else {
YosukeK 0:32eb0835b5a3 42 _led = 0;
YosukeK 0:32eb0835b5a3 43 }
YosukeK 0:32eb0835b5a3 44 }
YosukeK 0:32eb0835b5a3 45
YosukeK 0:32eb0835b5a3 46
YosukeK 0:32eb0835b5a3 47 /**
YosukeK 0:32eb0835b5a3 48 * @bref 周期タイマのコールバックメソッド
YosukeK 0:32eb0835b5a3 49 * @param e イベント引数
YosukeK 0:32eb0835b5a3 50 */
YosukeK 0:32eb0835b5a3 51 void Roomba::periodicCallback(EventArg e) {
YosukeK 0:32eb0835b5a3 52
YosukeK 0:32eb0835b5a3 53 count = count + 1;
YosukeK 0:32eb0835b5a3 54
YosukeK 0:32eb0835b5a3 55 if (count > 100) {
YosukeK 0:32eb0835b5a3 56 if (timedOut == false) {
YosukeK 0:32eb0835b5a3 57 timedOut = true;
YosukeK 0:32eb0835b5a3 58 Roomba::notify(timedOut);
YosukeK 0:32eb0835b5a3 59 }
YosukeK 0:32eb0835b5a3 60 }
YosukeK 0:32eb0835b5a3 61
YosukeK 0:32eb0835b5a3 62 _s.putc('1');
YosukeK 0:32eb0835b5a3 63 Roomba::send(e);
YosukeK 0:32eb0835b5a3 64
YosukeK 0:32eb0835b5a3 65 }
YosukeK 0:32eb0835b5a3 66
YosukeK 0:32eb0835b5a3 67 /**
YosukeK 0:32eb0835b5a3 68 * @bref シリアル受信時コールバックメソッド
YosukeK 0:32eb0835b5a3 69 */
YosukeK 0:32eb0835b5a3 70 void Roomba::serialReceiveCallback() {
YosukeK 0:32eb0835b5a3 71 count = 0;
YosukeK 0:32eb0835b5a3 72
YosukeK 0:32eb0835b5a3 73 _s.putc('2');
YosukeK 0:32eb0835b5a3 74
YosukeK 0:32eb0835b5a3 75 if (timedOut) {
YosukeK 0:32eb0835b5a3 76 timedOut = false;
YosukeK 0:32eb0835b5a3 77 Roomba::notify(timedOut);
YosukeK 0:32eb0835b5a3 78 }
YosukeK 0:32eb0835b5a3 79 }
YosukeK 0:32eb0835b5a3 80
YosukeK 0:32eb0835b5a3 81 ///**
YosukeK 0:32eb0835b5a3 82 // * @bref シリアル受信のアタッチ
YosukeK 0:32eb0835b5a3 83 // */
YosukeK 0:32eb0835b5a3 84 ////継承先から操作できるようにしただけ
YosukeK 0:32eb0835b5a3 85 //void Roomba::attachSerialReceiveCallback() {
YosukeK 0:32eb0835b5a3 86 // Roomba::mp = &Roomba::serialReceiveCallback;
YosukeK 0:32eb0835b5a3 87 // _s.attach(this, Roomba::mp, Serial::RxIrq);
YosukeK 0:32eb0835b5a3 88 // //_s.attach(this, &Roomba::notify, Serial::RxIrq);
YosukeK 0:32eb0835b5a3 89 //}
YosukeK 0:32eb0835b5a3 90
YosukeK 0:32eb0835b5a3 91 /**
YosukeK 0:32eb0835b5a3 92 * @bref Start
YosukeK 0:32eb0835b5a3 93 * @return true
YosukeK 0:32eb0835b5a3 94 */
YosukeK 0:32eb0835b5a3 95 bool Roomba::start() {
YosukeK 0:32eb0835b5a3 96
YosukeK 0:32eb0835b5a3 97 _s.putc('a');
YosukeK 0:32eb0835b5a3 98
YosukeK 0:32eb0835b5a3 99 _s.putc(128);
YosukeK 0:32eb0835b5a3 100
YosukeK 0:32eb0835b5a3 101 return true;
YosukeK 0:32eb0835b5a3 102 }
YosukeK 0:32eb0835b5a3 103
YosukeK 0:32eb0835b5a3 104
YosukeK 0:32eb0835b5a3 105 /**
YosukeK 0:32eb0835b5a3 106 * @bref 操作モード変更メソッド
YosukeK 0:32eb0835b5a3 107 * @param 操作モード
YosukeK 0:32eb0835b5a3 108 * @return true
YosukeK 0:32eb0835b5a3 109 */
YosukeK 0:32eb0835b5a3 110 bool Roomba::mode(Roomba::Mode m) {
YosukeK 0:32eb0835b5a3 111
YosukeK 0:32eb0835b5a3 112 _s.putc('b');
YosukeK 0:32eb0835b5a3 113
YosukeK 0:32eb0835b5a3 114 _s.putc(132);//Full;
YosukeK 0:32eb0835b5a3 115
YosukeK 0:32eb0835b5a3 116 return true;
YosukeK 0:32eb0835b5a3 117 }
YosukeK 0:32eb0835b5a3 118
YosukeK 0:32eb0835b5a3 119
YosukeK 0:32eb0835b5a3 120 /**
YosukeK 0:32eb0835b5a3 121 * @bref Start
YosukeK 0:32eb0835b5a3 122 * @param true
YosukeK 0:32eb0835b5a3 123 */
YosukeK 0:32eb0835b5a3 124 bool Roomba::drive(int rightWheelVelocity, int leftWheelVelocity) {
YosukeK 0:32eb0835b5a3 125
YosukeK 0:32eb0835b5a3 126
YosukeK 0:32eb0835b5a3 127 bool ret = false;
YosukeK 0:32eb0835b5a3 128
YosukeK 0:32eb0835b5a3 129 if ((-500 <= rightWheelVelocity && rightWheelVelocity <= 500)
YosukeK 0:32eb0835b5a3 130 && (-500 <= leftWheelVelocity && leftWheelVelocity <= 500)) {
YosukeK 0:32eb0835b5a3 131
YosukeK 0:32eb0835b5a3 132 Roomba::command[0] = 145;
YosukeK 0:32eb0835b5a3 133 Roomba::command[1] = rightWheelVelocity & 0xFF00 >> 8; //MSB
YosukeK 0:32eb0835b5a3 134 Roomba::command[2] = rightWheelVelocity & 0xFF; //LSB
YosukeK 0:32eb0835b5a3 135 Roomba::command[3] = leftWheelVelocity & 0xFF00 >> 8; //MSB
YosukeK 0:32eb0835b5a3 136 Roomba::command[4] = leftWheelVelocity & 0xFF; //LSB
YosukeK 0:32eb0835b5a3 137 Roomba::command[5] = '\0';
YosukeK 0:32eb0835b5a3 138
YosukeK 0:32eb0835b5a3 139 for (int i = 0; Roomba::command[i] != '\0'; i++) {
YosukeK 0:32eb0835b5a3 140 _s.putc('c');
YosukeK 0:32eb0835b5a3 141 _s.putc(Roomba::command[i]);
YosukeK 0:32eb0835b5a3 142 }
YosukeK 0:32eb0835b5a3 143
YosukeK 0:32eb0835b5a3 144 ret = true;
YosukeK 0:32eb0835b5a3 145 }
YosukeK 0:32eb0835b5a3 146
YosukeK 0:32eb0835b5a3 147 return ret;
YosukeK 0:32eb0835b5a3 148 }
YosukeK 0:32eb0835b5a3 149
YosukeK 0:32eb0835b5a3 150 /**
YosukeK 0:32eb0835b5a3 151 * @bref バッテリ状態
YosukeK 0:32eb0835b5a3 152 * @param true
YosukeK 0:32eb0835b5a3 153 * @return
YosukeK 0:32eb0835b5a3 154 * @retval
YosukeK 0:32eb0835b5a3 155 */
YosukeK 0:32eb0835b5a3 156 bool Roomba::battery(int* batteryCapacity) {
YosukeK 0:32eb0835b5a3 157 bool ret = false;
YosukeK 0:32eb0835b5a3 158
YosukeK 0:32eb0835b5a3 159 *batteryCapacity = 100;
YosukeK 0:32eb0835b5a3 160
YosukeK 0:32eb0835b5a3 161 return ret;
YosukeK 0:32eb0835b5a3 162 }