Diff: iRobot/iRobot.cpp

Revision:

3:de12b39ad805

Parent:

1:6c399fc35deb

--- a/iRobot/iRobot.cpp	Thu Nov 21 00:02:05 2013 +0000
+++ b/iRobot/iRobot.cpp	Mon Nov 25 19:55:12 2013 +0000
@@ -28,15 +28,15 @@
 // Start  - send start and safe mode, start streaming sensor data
 void iRobot::start()
 {
-    // device.printf("%c%c", Start, SafeMode);
-    device.putc(Start);
-    device.putc(SafeMode);
+    device.printf("%c%c", Start, SafeMode);
+    //device.putc(Start);
+    //device.putc(SafeMode);
     wait(.5);
-    //  device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
+     /* device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
     device.putc(SensorStream);
     device.putc(1);
     device.putc(BumpsandDrops);
-    wait(.2);
+    wait(.2);*/
     // Setup a serial interrupt function to receive data
     device.attach(this, &iRobot::receive_sensor);
 }
@@ -72,6 +72,33 @@
                   char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
 
 }
+// Angle - The angle in degrees that iRobot Create has turned since the 
+//angle was last requested 
+int iRobot::getAngle()
+{
+    char angleBuff[2];
+    device.printf("%c%c", Sensors, Angle);
+    device.gets(angleBuff, 2);
+    return atoi(angleBuff);
+}
+
+// Turn Angle - The angle in degrees that iRobot Create has turned since the 
+//angle was last requested ccw is pos angle, cw is neg angle
+void iRobot::turnAngle(int angle)
+{
+    char angleTurn[3];
+    angleTurn[0] = waitAngle;
+    angleTurn[1] = angle >> 8;
+    angleTurn[2] = angle & 0xFF;
+    if(angle > 0){
+        device.printf("%c%c%c%c",char(137), char(0), char(200), char(0), char(1));
+    }
+    else if(angle < 0){
+        device.printf("%c%c%c%c",char(137), char(0), char(200), char(255), char(255));
+    }
+    device.printf("%c%c%c", angleTurn[0], angleTurn[1], angleTurn[2]);
+    wait(.05);
+}
 // Charger - search and return to charger using IR beacons (if found)
 void iRobot::charger()
 {
@@ -96,6 +123,7 @@
 void iRobot::receive_sensor()
 {
     char start_character;
+    printf("reading\n");
 // Loop just in case more than one character is in UART's receive FIFO buffer
     while (device.readable()) {
         switch (Sensor_byte_count) {