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Dependencies:   Rectangle Servo TextLCD mbed

iRobot.cpp@0:3ed56271dd2d, 2013-11-11 (annotated)

Committer:
dhamilton31
Date:
Mon Nov 11 19:22:13 2013 +0000
Revision:
0:3ed56271dd2d
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dhamilton31 0:3ed56271dd2d 1 #include "mbed.h"
dhamilton31 0:3ed56271dd2d 2 #include "iRobot.h"
dhamilton31 0:3ed56271dd2d 3
dhamilton31 0:3ed56271dd2d 4 // Definitions of iRobot Create OpenInterface Command Numbers
dhamilton31 0:3ed56271dd2d 5 // See the Create OpenInterface manual for a complete list
dhamilton31 0:3ed56271dd2d 6
dhamilton31 0:3ed56271dd2d 7 iRobot::iRobot(PinName tx, PinName rx) : device(tx, rx){
dhamilton31 0:3ed56271dd2d 8 speed_left = 200;
dhamilton31 0:3ed56271dd2d 9 speed_right = 200;
dhamilton31 0:3ed56271dd2d 10 }
dhamilton31 0:3ed56271dd2d 11
dhamilton31 0:3ed56271dd2d 12 // Start - send start and safe mode, start streaming sensor data
dhamilton31 0:3ed56271dd2d 13 void iRobot::start() {
dhamilton31 0:3ed56271dd2d 14 // device.printf("%c%c", Start, SafeMode);
dhamilton31 0:3ed56271dd2d 15 device.putc(Start);
dhamilton31 0:3ed56271dd2d 16 device.putc(SafeMode);
dhamilton31 0:3ed56271dd2d 17 wait(.5);
dhamilton31 0:3ed56271dd2d 18 // device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
dhamilton31 0:3ed56271dd2d 19 device.putc(SensorStream);
dhamilton31 0:3ed56271dd2d 20 device.putc(1);
dhamilton31 0:3ed56271dd2d 21 device.putc(BumpsandDrops);
dhamilton31 0:3ed56271dd2d 22 wait(.5);
dhamilton31 0:3ed56271dd2d 23 }
dhamilton31 0:3ed56271dd2d 24 // Stop - turn off drive motors
dhamilton31 0:3ed56271dd2d 25 void iRobot::stop() {
dhamilton31 0:3ed56271dd2d 26 device.printf("%c%c%c%c%c", DriveDirect, char(0), char(0), char(0), char(0));
dhamilton31 0:3ed56271dd2d 27 }
dhamilton31 0:3ed56271dd2d 28 // Forward - turn on drive motors
dhamilton31 0:3ed56271dd2d 29 void iRobot::forward() {
dhamilton31 0:3ed56271dd2d 30 device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF), char(speed_right&0xFF),
dhamilton31 0:3ed56271dd2d 31 char((speed_left>>8)&0xFF), char(speed_left&0xFF));
dhamilton31 0:3ed56271dd2d 32
dhamilton31 0:3ed56271dd2d 33 }
dhamilton31 0:3ed56271dd2d 34 // Reverse - reverse drive motors
dhamilton31 0:3ed56271dd2d 35 void iRobot::reverse() {
dhamilton31 0:3ed56271dd2d 36 device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF), char((-speed_right)&0xFF),
dhamilton31 0:3ed56271dd2d 37 char(((-speed_left)>>8)&0xFF), char((-speed_left)&0xFF));
dhamilton31 0:3ed56271dd2d 38
dhamilton31 0:3ed56271dd2d 39 }
dhamilton31 0:3ed56271dd2d 40 // Left - drive motors set to rotate to left
dhamilton31 0:3ed56271dd2d 41 void iRobot::left() {
dhamilton31 0:3ed56271dd2d 42 device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF), char(speed_right&0xFF),
dhamilton31 0:3ed56271dd2d 43 char(((-speed_left)>>8)&0xFF), char((-speed_left)&0xFF));
dhamilton31 0:3ed56271dd2d 44 }
dhamilton31 0:3ed56271dd2d 45 // Right - drive motors set to rotate to right
dhamilton31 0:3ed56271dd2d 46 void iRobot::right() {
dhamilton31 0:3ed56271dd2d 47 device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF), char((-speed_right)&0xFF),
dhamilton31 0:3ed56271dd2d 48 char((speed_left>>8)&0xFF), char(speed_left&0xFF));
dhamilton31 0:3ed56271dd2d 49
dhamilton31 0:3ed56271dd2d 50 }
dhamilton31 0:3ed56271dd2d 51 // Charger - search and return to charger using IR beacons (if found)
dhamilton31 0:3ed56271dd2d 52 void iRobot::charger() {
dhamilton31 0:3ed56271dd2d 53 device.printf("%c%c", Demo, char(1));
dhamilton31 0:3ed56271dd2d 54 }
dhamilton31 0:3ed56271dd2d 55 // Play Song - define and play a song
dhamilton31 0:3ed56271dd2d 56 void iRobot::playsong() { // Send out notes & duration to define song and then play song
dhamilton31 0:3ed56271dd2d 57
dhamilton31 0:3ed56271dd2d 58 device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c",
dhamilton31 0:3ed56271dd2d 59 Song, char(0), char(16), char(91), char(24), char(89), char(12), char(87), char(36), char(87),
dhamilton31 0:3ed56271dd2d 60 char(24), char(89), char(12), char(91), char(24), char(91), char(12), char(91), char(12), char(89),
dhamilton31 0:3ed56271dd2d 61 char(12),char(87), char(12), char(89), char(12), char(91), char(12), char(89), char(12), char(87),
dhamilton31 0:3ed56271dd2d 62 char(24), char(86), char(12), char(87), char(48));
dhamilton31 0:3ed56271dd2d 63
dhamilton31 0:3ed56271dd2d 64 wait(.2);
dhamilton31 0:3ed56271dd2d 65 device.printf("%c%c", PlaySong, char(0));
dhamilton31 0:3ed56271dd2d 66 }