Diff: WifiRobot/RoombaControl/irobot/irobotCommand.cpp

Revision:

0:2deb247ab4bd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/WifiRobot/RoombaControl/irobot/irobotCommand.cpp	Tue Dec 09 05:06:37 2014 +0000
@@ -0,0 +1,80 @@
+#include "irobotCommand.h"
+#include "irobotTime.h"
+
+int32_t irobotBaudChange(
+	const irobotUARTPort_t	port,
+	const irobotBaud_t		baud
+){
+	int32_t status = ERROR_SUCCESS;
+	uint8_t packet[OP_BAUD_SIZE];
+
+	packet[0] = OP_BAUD;
+	packet[1] = (uint8_t)baud;
+	
+	if(!irobot_IsError(status)){
+		irobot_StatusMerge(&status, irobotUARTWriteRaw(port, packet, OP_BAUD_SIZE));
+	}
+	if(!irobot_IsError(status)){
+		irobot_StatusMerge(&status, irobotUARTClose(port));
+	}
+	if(!irobot_IsError(status)){
+		irobot_StatusMerge(&status, irobotUARTOpen(port, baud));
+		irobotDelayMs(50); // delay 50ms
+	}
+
+	return status;
+}
+
+int32_t irobotDemoStop(
+	const irobotUARTPort_t	port
+){
+	uint8_t packet[OP_DEMO_SIZE];
+
+	packet[0] = OP_DEMO;
+	packet[1] = 0xFF;		/* special case; stop all demos */
+	
+	return irobotUARTWriteRaw(port, packet, OP_DEMO_SIZE);
+}
+
+int32_t irobotDemo(
+	const irobotUARTPort_t	port,
+	const irobotDemo_t		demo
+){
+	uint8_t packet[OP_DEMO_SIZE];
+
+	packet[0] = OP_DEMO;
+	packet[1] = (uint8_t)demo;
+	
+	return irobotUARTWriteRaw(port, packet, OP_DEMO_SIZE);
+}
+
+int32_t irobotFull(
+	const irobotUARTPort_t	port
+){
+	uint8_t packet[OP_FULL_SIZE];
+
+	packet[0] = OP_FULL;
+	
+	return irobotUARTWriteRaw(port, packet, OP_FULL_SIZE);
+}
+
+int32_t irobotSafe(
+	const irobotUARTPort_t	port
+){
+	uint8_t packet[OP_SAFE_SIZE];
+
+	packet[0] = OP_SAFE;
+	
+	return irobotUARTWriteRaw(port, packet, OP_SAFE_SIZE);
+}
+
+int32_t irobotStart(
+	const irobotUARTPort_t	port
+){
+	uint8_t packet[OP_START_SIZE];
+
+	packet[0] = OP_START;
+	
+	return irobotUARTWriteRaw(port, packet, OP_START_SIZE);
+}
+