naoki nishii / Mbed 2 deprecated Roomba_Hack

ルンバハック用．

Dependencies:   mbed

Song_Hack.cpp@0:ac1e1657002a, 2016-06-24 (annotated)

Committer:
naoki_westwell
Date:
Fri Jun 24 07:33:46 2016 +0000
Revision:
0:ac1e1657002a
Roomba Hack

Who changed what in which revision?

UserRevisionLine numberNew contents of line
naoki_westwell 0:ac1e1657002a 1 #include "mbed.h"
naoki_westwell 0:ac1e1657002a 2 #include <System_Select.h>
naoki_westwell 0:ac1e1657002a 3
naoki_westwell 0:ac1e1657002a 4 #ifdef SONG_HACK
naoki_westwell 0:ac1e1657002a 5
naoki_westwell 0:ac1e1657002a 6 Serial Roomba(p9, p10);
naoki_westwell 0:ac1e1657002a 7
naoki_westwell 0:ac1e1657002a 8 void send_cmd(char command);
naoki_westwell 0:ac1e1657002a 9
naoki_westwell 0:ac1e1657002a 10 int main(){
naoki_westwell 0:ac1e1657002a 11 Roomba.baud(115200);
naoki_westwell 0:ac1e1657002a 12
naoki_westwell 0:ac1e1657002a 13 send_cmd(START);
naoki_westwell 0:ac1e1657002a 14 send_cmd(SAFE);
naoki_westwell 0:ac1e1657002a 15 wait(5);
naoki_westwell 0:ac1e1657002a 16
naoki_westwell 0:ac1e1657002a 17 send_cmd(SONG);
naoki_westwell 0:ac1e1657002a 18 send_cmd(0);
naoki_westwell 0:ac1e1657002a 19 send_cmd(8);
naoki_westwell 0:ac1e1657002a 20 send_cmd(0x18);
naoki_westwell 0:ac1e1657002a 21 send_cmd(32);
naoki_westwell 0:ac1e1657002a 22 send_cmd(0x1A);
naoki_westwell 0:ac1e1657002a 23 send_cmd(32);
naoki_westwell 0:ac1e1657002a 24 send_cmd(0x1C);
naoki_westwell 0:ac1e1657002a 25 send_cmd(32);
naoki_westwell 0:ac1e1657002a 26 send_cmd(0x1D);
naoki_westwell 0:ac1e1657002a 27 send_cmd(32);
naoki_westwell 0:ac1e1657002a 28 send_cmd(0x1F);
naoki_westwell 0:ac1e1657002a 29 send_cmd(32);
naoki_westwell 0:ac1e1657002a 30 send_cmd(0x21);
naoki_westwell 0:ac1e1657002a 31 send_cmd(32);
naoki_westwell 0:ac1e1657002a 32 send_cmd(0x23);
naoki_westwell 0:ac1e1657002a 33 send_cmd(32);
naoki_westwell 0:ac1e1657002a 34 send_cmd(0x24);
naoki_westwell 0:ac1e1657002a 35 send_cmd(32);
naoki_westwell 0:ac1e1657002a 36
naoki_westwell 0:ac1e1657002a 37 wait(1);
naoki_westwell 0:ac1e1657002a 38
naoki_westwell 0:ac1e1657002a 39 send_cmd(PLAY);
naoki_westwell 0:ac1e1657002a 40 send_cmd(0);
naoki_westwell 0:ac1e1657002a 41
naoki_westwell 0:ac1e1657002a 42 }
naoki_westwell 0:ac1e1657002a 43
naoki_westwell 0:ac1e1657002a 44 void send_cmd(char command){
naoki_westwell 0:ac1e1657002a 45 Roomba.putc(command);
naoki_westwell 0:ac1e1657002a 46 }
naoki_westwell 0:ac1e1657002a 47 #endif