Rahul Shetty / Mbed 2 deprecated FollowMeBot

The FollowMeBot follows the user based on the color of his or her shirt. The device hosts a webcam on a servo to find the object and orient the robot. The color is chosen through the user interface with push buttons. Currently, the MATLAB code supports red and green detection. The purpose of FollowMeBot is to be able to follow the user in order to be helpful for daily tasks.

Dependencies:   Rectangle Servo TextLCD mbed

Fork of FollowMeBot3 by Rahul Shetty

Diff: iRobot/iRobot.cpp

Revision:
3:de12b39ad805
Parent:
1:6c399fc35deb
Child:
5:5fe2f8603be8
--- a/iRobot/iRobot.cpp	Thu Nov 21 00:02:05 2013 +0000
+++ b/iRobot/iRobot.cpp	Mon Nov 25 19:55:12 2013 +0000
@@ -28,15 +28,15 @@
 // 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);
+    device.printf("%c%c", Start, SafeMode);
+    //device.putc(Start);
+    //device.putc(SafeMode);
     wait(.5);
-    //  device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
+     /* device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
     device.putc(SensorStream);
     device.putc(1);
     device.putc(BumpsandDrops);
-    wait(.2);
+    wait(.2);*/
     // Setup a serial interrupt function to receive data
     device.attach(this, &iRobot::receive_sensor);
 }
@@ -72,6 +72,33 @@
                   char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
 
 }
+// Angle - The angle in degrees that iRobot Create has turned since the 
+//angle was last requested 
+int iRobot::getAngle()
+{
+    char angleBuff[2];
+    device.printf("%c%c", Sensors, Angle);
+    device.gets(angleBuff, 2);
+    return atoi(angleBuff);
+}
+
+// Turn Angle - The angle in degrees that iRobot Create has turned since the 
+//angle was last requested ccw is pos angle, cw is neg angle
+void iRobot::turnAngle(int angle)
+{
+    char angleTurn[3];
+    angleTurn[0] = waitAngle;
+    angleTurn[1] = angle >> 8;
+    angleTurn[2] = angle & 0xFF;
+    if(angle > 0){
+        device.printf("%c%c%c%c",char(137), char(0), char(200), char(0), char(1));
+    }
+    else if(angle < 0){
+        device.printf("%c%c%c%c",char(137), char(0), char(200), char(255), char(255));
+    }
+    device.printf("%c%c%c", angleTurn[0], angleTurn[1], angleTurn[2]);
+    wait(.05);
+}
 // Charger - search and return to charger using IR beacons (if found)
 void iRobot::charger()
 {
@@ -96,6 +123,7 @@
 void iRobot::receive_sensor()
 {
     char start_character;
+    printf("reading\n");
 // Loop just in case more than one character is in UART's receive FIFO buffer
     while (device.readable()) {
         switch (Sensor_byte_count) {