Diff: bt_shell/machine_interface/keybindings.h

Revision:

0:964eb6a2ef00

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bt_shell/machine_interface/keybindings.h	Wed Mar 18 22:23:48 2015 +0000
@@ -0,0 +1,40 @@
+/** This file contains the keybindings/commands for the python interface
+**/
+
+#ifndef KEYBINDINGS_H
+#define KEYBINDINGS_H
+
+#define CONNECTION  '?'     //leave this as question mark. Returns confirmation of connection when sent
+#define END_CONNECTION '$'  //end connection
+
+//sensors
+#define ALL_SENSOR  'A'     //returns all sensor data: 
+#define IMU_READ    'i'     //returns the IMU data in the form XXX.XXX,YYY.YYY,ZZZ.ZZZ,xxx.xxx,yyy.yyy.zzz.zzz [m/s2],[rad/s]
+#define IMU_YAW     'Y'     //returns only the YAW
+#define IMU_CALIBRATE 'U'   //calibrates IMU
+#define OPT_CALIBRATE 'u'   //calibrate optical flow
+
+#define IR_READ     'I'     //returns the IR sensor data in the form 000.000,000.000... [cm] for the 5 IR sensors
+#define IR_1        'L'    //left IR
+#define IR_2        'C'     //right IR
+#define IR_3        'R'     //centre IR
+#define IR_4        'r'     //rear right IR
+#define IR_5        'l'     //rear left IR
+
+#define CURRENT_SENSE 'c'   //returns current [mA]
+#define OPT_READ    'O'     //returns the velocity of each optical flow sensor X1,Y1,x2,y2 [pixels per second]
+#define LOCATION    'q'     //returns the current (x,y) location of robot [cm] (needs to be implemented)
+
+//commands
+//#define IMU_CTRL    'q'     //Toggle the IMU to keep the robot driving straight
+#define MOTOR_R     'd'     //Command to run right motor
+#define MOTOR_L     'a'     //Command to run left motor
+#define MOTOR       'w'     //Command to run both motors - specify both speeds
+
+//#define MOTOR_FWD   'W'     //Command to run both motors straight forward
+//#define ROTATE      'A'     //Command to rotate by specified rotation [degrees]
+
+#define MOTOR_STOP  's'     //Command to stop both motors
+#define GO_TO       'G'     //Command robot to go to specified coordinate
+
+#endif
\ No newline at end of file