Rahul Shetty / Mbed 2 deprecated FollowMeBot3

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 FollowMeBot by richard choy

iRobot/iRobot.h

Committer:
rshetty6
Date:
2013-12-06
Revision:
9:72e899c35484
Parent:
3:de12b39ad805

File content as of revision 9:72e899c35484:

#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();
    int getAngle();
    void turnAngle(int angle);

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;
    static const char         waitAngle = 157;
    /* 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