Diff: CarAPI.cpp

Revision:

4:4233d072b5af

Parent:

3:1afe0cfab2d1

Child:

5:8dde418f0d1e

--- a/CarAPI.cpp	Thu Aug 22 21:52:21 2013 +0000
+++ b/CarAPI.cpp	Fri Aug 23 00:38:23 2013 +0000
@@ -13,102 +13,156 @@
 
 /******************************** Wheels and Motor ********************************/
 
+/* turn the car.  turnAngle should be between [-1,1] */
 void turn(float turnAngle){
     turn(0,turnAngle);
 }
 
+/** move forward with the given power, turn angle, for a specified time */
 void move(float power, float seconds){
     move (power,power,seconds);
 }
 
+/** move forward with the given powers for each wheel, turn angle, for a specified time */
 void move(float leftWheelPower,float rightWheelPower, float seconds){
-    if(debug) pc.printf("move(%f,%f,%f)",leftWheelPower,rightWheelPower,seconds);
+    if(debug) utrace("move(%f,%f,%f)\r\n",leftWheelPower,rightWheelPower,seconds);
     TFC_SetMotorPWM(leftWheelPower,rightWheelPower); // power for n seconds with both wheels the same power
     wait(seconds);
     TFC_SetMotorPWM(0,0); // turn off power to both wheels
     wait(0.05); //need a wait to register or sebsequent calls to this method won't spin the wheel; hardware can't detect instaneous input?    
 }
 
+/** lock the wheels*/
 void parkingBrake(){
-    if(debug) pc.printf("parkingBrake()");
+    if(debug) utrace("parkingBrake()\r\n");
     TFC_SetMotorPWM(0.1,0.1); //slight spinning of wheel
     wait(0.1);
 }
 
-/******************************** INPUTS AND OUTPUTS ********************************/
+/** do nothing for the specified time */
+void sleep(float seconds){
+    if(debug) utrace("sleep(%f)\r\n",seconds);
+}
 
+
+/******************************** INPUTS AND OUTPUTS ********************************/
+/** check to see if the car is crashing into something */
 bool checkIsCrashing(){
-    if(debug) pc.printf("checkIsCrashing()");
+    if(debug) utrace("checkIsCrashing()\r\n");
     return abs(accelerometer.getAccX()) >= crashSensitivity;
 }
 
+/** check to see if the car has stopped */
+bool isStopped()
+{
+    double x = accelerometer.getAccX();
+    double y = accelerometer.getAccY();
+    double z = accelerometer.getAccZ();
+    double calAcc = sqrt(x*x + y*y + z*z);
+    if (calAcc < stopSensitivity)
+        return 1;
+    return 0;
+}
+
+
+
+/** Return the line direction
+    line to the left of center. return [-1,0
+    line to the right of center. return (0,1]
+    line in center. return 0
+*/
 float lineDirection(){
     return 0;
 }
 
+/* toggle led 0 */
 void toggleLED0(){
-    if(debug) pc.printf("toggleLED0()");
+    if(debug) utrace("toggleLED0()\r\n");
     TFC_BAT_LED0_TOGGLE;    
 }
 
+/* toggle led 1 */
 void toggleLED1(){
-    if(debug) pc.printf("toggleLED1()");
+    if(debug) utrace("toggleLED1()\r\n");
     TFC_BAT_LED1_TOGGLE;    
 }
 
+/* toggle led 2 */
 void toggleLED2(){
-    if(debug) pc.printf("toggleLED2()");
+    if(debug) utrace("toggleLED2()\r\n");
     TFC_BAT_LED2_TOGGLE;    
 }
 
+/* toggle led 3 */
 void toggleLED3(){
-    if(debug) pc.printf("toggleLED3()");
+    if(debug) utrace("toggleLED3()\r\n");
     TFC_BAT_LED3_TOGGLE;    
 }
 
+/** is Button B pressed */
 bool isButtonBPressed(){
-    if(debug) pc.printf("isButtonBPressed()=",TFC_PUSH_BUTTON_1_PRESSED);
+    if(debug) utrace("isButtonBPressed()=%d\r\n",TFC_PUSH_BUTTON_1_PRESSED);
     return TFC_PUSH_BUTTON_1_PRESSED;
 }
 
+/** read Potentiometer 0. returns [-1,1] */
 float getPot0(){
-    if(debug) pc.printf("getPot0()= %f", TFC_ReadPot(0));
+    if(debug) utrace("getPot0()= %f\r\n", TFC_ReadPot(0));
     return TFC_ReadPot(0);
 }
 
+/** read Potentiometer 1. returns  [-1,1] */
 float getPot1(){
-    if(debug) pc.printf("getPot1()= %f", TFC_ReadPot(1));
+    if(debug) utrace("getPot1()= %f\r\n", TFC_ReadPot(1));
     return TFC_ReadPot(1);
 }
 
+/** How much batter remains. returns  [0,1] */
 float batteryLife(){
-    if(debug) pc.printf("batteryLife()= %f", TFC_ReadBatteryVoltage());
+    if(debug) utrace("batteryLife()= %f\r\n", TFC_ReadBatteryVoltage());
     return TFC_ReadBatteryVoltage();
 }
 
 /******************************** Changing Variables ********************************/
 
+/** set the base turn offset*/
 void setOffset(float _turnOffset){
-    if(debug) pc.printf("setOffset()= %f", _turnOffset);
+    if(debug) utrace("setOffset(%f)\r\n", _turnOffset);
     turnOffset = _turnOffset;
 }
 
+/** get the base turn offset */
 float getOffset(){
-    if(debug) pc.printf("getOffset()= %f", turnOffset);
+    if(debug) utrace("getOffset()= %f\r\n", turnOffset);
     return turnOffset;
 }
 
+/** set the base crash sensitivity*/
 void setCrashSensitivity(float _sensitivity){
-    if(debug) pc.printf("setCrashSensitivity()= %f", _sensitivity);
+    if(debug) utrace("setCrashSensitivity(%f)\r\n", _sensitivity);
     crashSensitivity = _sensitivity;
 }
 
+/** return the crash sensitivity */
 float getCrashSensitivity(){
-    if(debug) pc.printf("getCrashSensitivity()= %f", crashSensitivity);
+    if(debug) utrace("getCrashSensitivity()= %f\r\n", crashSensitivity);
     return crashSensitivity;
 }
 
+/** set the base stop sensitivity*/
+void setStopSensitivity(float _sensitivity){
+    if(debug) utrace("setStopSensitivity(%f)\r\n", _sensitivity);
+    stopSensitivity = _sensitivity;
+}
+
+/** return the stop sensitivity */
+float getStopSensitivity(){
+    if(debug) utrace("getStopSensitivity()= %f\r\n", stopSensitivity);
+    return stopSensitivity;
+}
+
+/** turn on debugging*/
 void setDebug(bool _debug){
-    if(debug) pc.printf("setDebug()= %d", _debug);
+    if(debug) utrace("setDebug()= %d\r\n", _debug);
     debug = _debug;
 }
\ No newline at end of file