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Arduino/libraries/Robot_Control/arch/avr/communication.cpp

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2013-05-15 10:47:17 +02:00
#include <ArduinoRobot.h> bool RobotControl::isActionDone(){ if(messageIn.receiveData()){ if(messageIn.readByte()==COMMAND_ACTION_DONE){ return true; } } return false; } void RobotControl::pauseMode(uint8_t onOff){ messageOut.writeByte(COMMAND_PAUSE_MODE); if(onOff){ messageOut.writeByte(true); }else{ messageOut.writeByte(false); } messageOut.sendData(); } void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){ messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG); messageOut.writeByte(KP); messageOut.writeByte(KD); messageOut.writeByte(robotSpeed); messageOut.writeByte(intergrationTime); messageOut.sendData(); }