iRobot.h

00001 #ifndef __IROBOT__
00002 #define __IROBOT__
00003 
00004 #include "mbed.h"
00005 
00006 class iRobot
00007 {
00008 
00009 public:
00010 
00011     iRobot(PinName tx, PinName rx);
00012     void start();
00013     void forward();
00014     void reverse();
00015     void left();
00016     void right();
00017     void stop();
00018     void playsong();
00019     void charger();
00020     void changeSpeed(int speed);
00021     void receive_sensor();
00022     char sensorCode();
00023     int getAngle();
00024     void turnAngle(int angle);
00025 
00026 private:
00027 
00028     //                 Create Command              // Arguments
00029     static const char         Start = 128;
00030     static const char         SafeMode = 131;
00031     static const char         FullMode = 132;
00032     static const char         Drive = 137;                // 4:   [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low]
00033     static const char         DriveDirect = 145;          // 4:   [Right Hi] [Right Low] [Left Hi] [Left Low]
00034     static  const char         Demo = 136;                 // 2:    Run Demo x
00035     static  const char         Sensors = 142;              // 1:    Sensor Packet ID
00036     static  const char         CoverandDock = 143;         // 1:    Return to Charger
00037     static  const char         SensorStream = 148;         // x+1: [# of packets requested] IDs of requested packets to stream
00038     static  const char         QueryList = 149;            // x+1: [# of packets requested] IDs of requested packets to stream
00039     static  const char         StreamPause = 150;          // 1:    0 = stop stream, 1 = start stream
00040     static  const char         PlaySong = 141;
00041     static const char         Song = 140;
00042     static  const char         BumpsandDrops = 7;
00043     static const char         Distance = 19;
00044     static const char         Angle = 20;
00045     static const char         waitAngle = 157;
00046     /* Global variables with sensor packet info */
00047     char Sensor_byte_count;
00048     char Sensor_Data_Byte;
00049     char Sensor_Data_Byte_Error;
00050     char Sensor_ID;
00051     char Sensor_Num_Bytes;
00052     char Sensor_Checksum;
00053 
00054     int speed_left;
00055     int speed_right;
00056     Serial device;
00057 };
00058 
00059 #endif