Diff: iRobot/iRobot.h

Revision:

1:6c399fc35deb

Parent:

0:3ed56271dd2d

Child:

3:de12b39ad805

diff -r 3ed56271dd2d -r 6c399fc35deb iRobot/iRobot.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/iRobot/iRobot.h	Mon Nov 18 21:09:13 2013 +0000
@@ -0,0 +1,56 @@
+#ifndef __IROBOT__
+#define __IROBOT__
+
+#include "mbed.h"
+
+class iRobot
+{
+
+public:
+
+    iRobot(PinName tx, PinName rx);
+    void start();
+    void forward();
+    void reverse();
+    void left();
+    void right();
+    void stop();
+    void playsong();
+    void charger();
+    void changeSpeed(int speed);
+    void receive_sensor();
+    char sensorCode();
+
+private:
+
+    //                 Create Command              // Arguments
+    static const char         Start = 128;
+    static const char         SafeMode = 131;
+    static const char         FullMode = 132;
+    static const char         Drive = 137;                // 4:   [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low]
+    static const char         DriveDirect = 145;          // 4:   [Right Hi] [Right Low] [Left Hi] [Left Low]
+    static  const char         Demo = 136;                 // 2:    Run Demo x
+    static  const char         Sensors = 142;              // 1:    Sensor Packet ID
+    static  const char         CoverandDock = 143;         // 1:    Return to Charger
+    static  const char         SensorStream = 148;         // x+1: [# of packets requested] IDs of requested packets to stream
+    static  const char         QueryList = 149;            // x+1: [# of packets requested] IDs of requested packets to stream
+    static  const char         StreamPause = 150;          // 1:    0 = stop stream, 1 = start stream
+    static  const char         PlaySong = 141;
+    static const char         Song = 140;
+    static  const char         BumpsandDrops = 7;
+    static const char         Distance = 19;
+    static const char         Angle = 20;
+    /* Global variables with sensor packet info */
+    char Sensor_byte_count;
+    char Sensor_Data_Byte;
+    char Sensor_Data_Byte_Error;
+    char Sensor_ID;
+    char Sensor_Num_Bytes;
+    char Sensor_Checksum;
+
+    int speed_left;
+    int speed_right;
+    Serial device;
+};
+
+#endif
\ No newline at end of file