Diff: iRobot.cpp

Revision:

0:3ed56271dd2d

diff -r 000000000000 -r 3ed56271dd2d iRobot.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/iRobot.cpp	Mon Nov 11 19:22:13 2013 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "iRobot.h"
+ 
+// Definitions of iRobot Create OpenInterface Command Numbers
+// See the Create OpenInterface manual for a complete list
+ 
+ iRobot::iRobot(PinName tx, PinName rx) : device(tx, rx){
+    speed_left = 200;
+    speed_right = 200;
+ }
+ 
+// 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);
+    wait(.5);
+  //  device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
+    device.putc(SensorStream);
+    device.putc(1);
+    device.putc(BumpsandDrops);
+    wait(.5);
+}
+// Stop  - turn off drive motors
+void iRobot::stop() {
+    device.printf("%c%c%c%c%c", DriveDirect, char(0),  char(0),  char(0),  char(0));
+}
+// Forward  - turn on drive motors
+void iRobot::forward() {
+    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),  
+    char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
+ 
+}
+// Reverse - reverse drive motors
+void iRobot::reverse() {
+    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),  
+    char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
+ 
+}
+// Left - drive motors set to rotate to left
+void iRobot::left() {
+    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),  
+    char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
+}
+// Right - drive motors set to rotate to right
+void iRobot::right() {
+    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),  
+    char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
+ 
+}
+// Charger - search and return to charger using IR beacons (if found)
+void iRobot::charger() {
+    device.printf("%c%c", Demo, char(1));
+}
+// Play Song  - define and play a song
+void iRobot::playsong() { // Send out notes & duration to define song and then play song
+ 
+    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", 
+                  Song, char(0), char(16), char(91), char(24), char(89), char(12), char(87), char(36), char(87),
+                  char(24), char(89), char(12), char(91), char(24), char(91), char(12), char(91), char(12), char(89),
+                  char(12),char(87), char(12), char(89), char(12), char(91), char(12), char(89), char(12), char(87),
+                  char(24), char(86), char(12), char(87), char(48));
+ 
+    wait(.2);
+    device.printf("%c%c", PlaySong, char(0));
+}
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