Follow me bot application!
Dependencies: Rectangle Servo TextLCD mbed
iRobot/iRobot.h@1:6c399fc35deb, 2013-11-18 (annotated)
- Committer:
- dhamilton31
- Date:
- Mon Nov 18 21:09:13 2013 +0000
- Revision:
- 1:6c399fc35deb
- Parent:
- iRobot.h@0:3ed56271dd2d
- Child:
- 3:de12b39ad805
how many things must I commit?!?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
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 | 1:6c399fc35deb | 20 | void changeSpeed(int speed); |
dhamilton31 | 1:6c399fc35deb | 21 | void receive_sensor(); |
dhamilton31 | 1:6c399fc35deb | 22 | char sensorCode(); |
dhamilton31 | 0:3ed56271dd2d | 23 | |
dhamilton31 | 0:3ed56271dd2d | 24 | private: |
dhamilton31 | 0:3ed56271dd2d | 25 | |
dhamilton31 | 0:3ed56271dd2d | 26 | // Create Command // Arguments |
dhamilton31 | 0:3ed56271dd2d | 27 | static const char Start = 128; |
dhamilton31 | 0:3ed56271dd2d | 28 | static const char SafeMode = 131; |
dhamilton31 | 0:3ed56271dd2d | 29 | static const char FullMode = 132; |
dhamilton31 | 0:3ed56271dd2d | 30 | static const char Drive = 137; // 4: [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low] |
dhamilton31 | 0:3ed56271dd2d | 31 | static const char DriveDirect = 145; // 4: [Right Hi] [Right Low] [Left Hi] [Left Low] |
dhamilton31 | 0:3ed56271dd2d | 32 | static const char Demo = 136; // 2: Run Demo x |
dhamilton31 | 0:3ed56271dd2d | 33 | static const char Sensors = 142; // 1: Sensor Packet ID |
dhamilton31 | 0:3ed56271dd2d | 34 | static const char CoverandDock = 143; // 1: Return to Charger |
dhamilton31 | 0:3ed56271dd2d | 35 | static const char SensorStream = 148; // x+1: [# of packets requested] IDs of requested packets to stream |
dhamilton31 | 0:3ed56271dd2d | 36 | static const char QueryList = 149; // x+1: [# of packets requested] IDs of requested packets to stream |
dhamilton31 | 0:3ed56271dd2d | 37 | static const char StreamPause = 150; // 1: 0 = stop stream, 1 = start stream |
dhamilton31 | 0:3ed56271dd2d | 38 | static const char PlaySong = 141; |
dhamilton31 | 0:3ed56271dd2d | 39 | static const char Song = 140; |
dhamilton31 | 0:3ed56271dd2d | 40 | static const char BumpsandDrops = 7; |
dhamilton31 | 0:3ed56271dd2d | 41 | static const char Distance = 19; |
dhamilton31 | 0:3ed56271dd2d | 42 | static const char Angle = 20; |
dhamilton31 | 1:6c399fc35deb | 43 | /* Global variables with sensor packet info */ |
dhamilton31 | 1:6c399fc35deb | 44 | char Sensor_byte_count; |
dhamilton31 | 1:6c399fc35deb | 45 | char Sensor_Data_Byte; |
dhamilton31 | 1:6c399fc35deb | 46 | char Sensor_Data_Byte_Error; |
dhamilton31 | 1:6c399fc35deb | 47 | char Sensor_ID; |
dhamilton31 | 1:6c399fc35deb | 48 | char Sensor_Num_Bytes; |
dhamilton31 | 1:6c399fc35deb | 49 | char Sensor_Checksum; |
dhamilton31 | 0:3ed56271dd2d | 50 | |
dhamilton31 | 0:3ed56271dd2d | 51 | int speed_left; |
dhamilton31 | 0:3ed56271dd2d | 52 | int speed_right; |
dhamilton31 | 0:3ed56271dd2d | 53 | Serial device; |
dhamilton31 | 0:3ed56271dd2d | 54 | }; |
dhamilton31 | 0:3ed56271dd2d | 55 | |
dhamilton31 | 0:3ed56271dd2d | 56 | #endif |