irobotCommand.h

00001 /** \file irobotCommand.h
00002  *
00003  * iRobot general commands.
00004  *
00005  * \author Jeff C. Jensen
00006  * \date 2013-12-09
00007  * \copyright Copyright (C) 2013, Jeff C. Jensen, Edward A. Lee, and Sanjit A. Seshia.
00008  *            This software accompanies An Introductory Lab in Embedded and Cyber-Physical Systems
00009  *            and is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0
00010  *            Unported License. See http://leeseshia.org/lab.
00011  */
00012 
00013 #ifndef _IROBOTCOMMAND_H
00014 #define _IROBOTCOMMAND_H
00015 
00016 #include "irobotOpcode.h"
00017 #include "irobotUART.h"
00018 #include "irobotError.h"
00019 
00020 /// Demo modes
00021 typedef enum{
00022     DEMO_COVER              = 0,    ///< Cover demo
00023     DEMO_COVER_DOCK         = 1,    ///< Cover & dock demo
00024     DEMO_SPOT_COVER         = 2,    ///< Spot cover demo
00025     DEMO_MOUSE              = 3,    ///< Mouse demo
00026     DEMO_DRIVE_FIGURE_EIGHT = 4,    ///< Figure eight demo
00027     DEMO_WIMP               = 5,    ///< Wimp demo
00028     DEMO_HOME               = 6,    ///< Home demo
00029     DEMO_TAG                = 7,    ///< Tag demo
00030     DEMO_PACHELBEL          = 8,    ///< Pachelbel song demo
00031     DEMO_BANJO              = 9     ///< Banjo song demo
00032 } irobotDemo_t;
00033 
00034 /// Set the iRobot baud rate. The serial port will be reconfigured to this new
00035 /// baud rate and restarted, which will clear communication buffers and may introduce a delay.
00036 /// \warning baud 115200 appears to be unstable.
00037 /// \return error code
00038 int32_t irobotBaudChange(
00039     const irobotUARTPort_t  port,       ///< [in] UART port
00040     const irobotBaud_t      baud        ///< [in] iRobot baud code
00041 );
00042 
00043 /// Stop a running demo
00044 int32_t irobotDemoStop(
00045     const irobotUARTPort_t  port        ///< [in] UART port
00046 );
00047 
00048 /// Run a demo
00049 int32_t irobotDemo(
00050     const irobotUARTPort_t  port,       ///< [in] UART port
00051     const irobotDemo_t      demo        ///< [in] demo to run
00052 );
00053 
00054 /// Change to FULL mode
00055 int32_t irobotFull(
00056     const irobotUARTPort_t  port        ///< [in] UART port
00057 );
00058 
00059 /// Change to SAFE mode
00060 int32_t irobotSafe(
00061     const irobotUARTPort_t  port        ///< [in] UART port
00062 );
00063 
00064 /// Change to START mode
00065 int32_t irobotStart(
00066     const irobotUARTPort_t  port        ///< [in] UART port
00067 );
00068 
00069 
00070 #endif // _IROBOTCOMMAND_H