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Dependencies:   Rectangle Servo TextLCD mbed

iRobot.h@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 #ifndef __IROBOT__
dhamilton31 0:3ed56271dd2d 2 #define __IROBOT__
dhamilton31 0:3ed56271dd2d 3
dhamilton31 0:3ed56271dd2d 4 #include "mbed.h"
dhamilton31 0:3ed56271dd2d 5
dhamilton31 0:3ed56271dd2d 6 class iRobot
dhamilton31 0:3ed56271dd2d 7 {
dhamilton31 0:3ed56271dd2d 8
dhamilton31 0:3ed56271dd2d 9 public:
dhamilton31 0:3ed56271dd2d 10
dhamilton31 0:3ed56271dd2d 11 iRobot(PinName tx, PinName rx);
dhamilton31 0:3ed56271dd2d 12 void start();
dhamilton31 0:3ed56271dd2d 13 void forward();
dhamilton31 0:3ed56271dd2d 14 void reverse();
dhamilton31 0:3ed56271dd2d 15 void left();
dhamilton31 0:3ed56271dd2d 16 void right();
dhamilton31 0:3ed56271dd2d 17 void stop();
dhamilton31 0:3ed56271dd2d 18 void playsong();
dhamilton31 0:3ed56271dd2d 19 void charger();
dhamilton31 0:3ed56271dd2d 20
dhamilton31 0:3ed56271dd2d 21 private:
dhamilton31 0:3ed56271dd2d 22
dhamilton31 0:3ed56271dd2d 23 // Create Command // Arguments
dhamilton31 0:3ed56271dd2d 24 static const char Start = 128;
dhamilton31 0:3ed56271dd2d 25 static const char SafeMode = 131;
dhamilton31 0:3ed56271dd2d 26 static const char FullMode = 132;
dhamilton31 0:3ed56271dd2d 27 static const char Drive = 137; // 4: [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low]
dhamilton31 0:3ed56271dd2d 28 static const char DriveDirect = 145; // 4: [Right Hi] [Right Low] [Left Hi] [Left Low]
dhamilton31 0:3ed56271dd2d 29 static const char Demo = 136; // 2: Run Demo x
dhamilton31 0:3ed56271dd2d 30 static const char Sensors = 142; // 1: Sensor Packet ID
dhamilton31 0:3ed56271dd2d 31 static const char CoverandDock = 143; // 1: Return to Charger
dhamilton31 0:3ed56271dd2d 32 static const char SensorStream = 148; // x+1: [# of packets requested] IDs of requested packets to stream
dhamilton31 0:3ed56271dd2d 33 static const char QueryList = 149; // x+1: [# of packets requested] IDs of requested packets to stream
dhamilton31 0:3ed56271dd2d 34 static const char StreamPause = 150; // 1: 0 = stop stream, 1 = start stream
dhamilton31 0:3ed56271dd2d 35 static const char PlaySong = 141;
dhamilton31 0:3ed56271dd2d 36 static const char Song = 140;
dhamilton31 0:3ed56271dd2d 37 static const char BumpsandDrops = 7;
dhamilton31 0:3ed56271dd2d 38 static const char Distance = 19;
dhamilton31 0:3ed56271dd2d 39 static const char Angle = 20;
dhamilton31 0:3ed56271dd2d 40
dhamilton31 0:3ed56271dd2d 41 int speed_left;
dhamilton31 0:3ed56271dd2d 42 int speed_right;
dhamilton31 0:3ed56271dd2d 43 Serial device;
dhamilton31 0:3ed56271dd2d 44 };
dhamilton31 0:3ed56271dd2d 45
dhamilton31 0:3ed56271dd2d 46 #endif