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Converted Robot_Control files to unix format for better git diffs

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Federico Fissore 2015-04-22 16:40:00 +02:00
parent 269a8b1199
commit ea9a7a11c7
2 changed files with 142 additions and 2 deletions
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114
libraries/Robot_Control/src/Motors.cpp
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@ -1 +1,113 @@
#include "ArduinoRobot.h" #include "EasyTransfer2.h" void RobotControl::motorsStop(){ messageOut.writeByte(COMMAND_MOTORS_STOP); messageOut.sendData(); } void RobotControl::motorsWrite(int speedLeft,int speedRight){ messageOut.writeByte(COMMAND_RUN); messageOut.writeInt(speedLeft); messageOut.writeInt(speedRight); messageOut.sendData(); } void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){ int16_t speedLeft=255*speedLeftPct/100.0; int16_t speedRight=255*speedRightPct/100.0; motorsWrite(speedLeft,speedRight); } void RobotControl::pointTo(int angle){ int target=angle; uint8_t speed=80; target=target%360; if(target<0){ target+=360; } int direction=angle; while(1){ int currentAngle=compassRead(); int diff=target-currentAngle; direction=180-(diff+360)%360; if(direction>0){ motorsWrite(speed,-speed);//right delay(10); }else{ motorsWrite(-speed,speed);//left delay(10); } //if(diff<-180) // diff += 360; //else if(diff> 180) // diff -= 360; //direction=-diff; if(abs(diff)<5){ motorsStop(); return; } } } void RobotControl::turn(int angle){ int originalAngle=compassRead(); int target=originalAngle+angle; pointTo(target); /*uint8_t speed=80; target=target%360; if(target<0){ target+=360; } int direction=angle; while(1){ if(direction>0){ motorsWrite(speed,speed);//right delay(10); }else{ motorsWrite(-speed,-speed);//left delay(10); } int currentAngle=compassRead(); int diff=target-currentAngle; if(diff<-180) diff += 360; else if(diff> 180) diff -= 360; direction=-diff; if(abs(diff)<5){ motorsWrite(0,0); return; } }*/ } void RobotControl::moveForward(int speed){ motorsWrite(speed,speed); } void RobotControl::moveBackward(int speed){ motorsWrite(speed,speed); } void RobotControl::turnLeft(int speed){ motorsWrite(speed,255); } void RobotControl::turnRight(int speed){ motorsWrite(255,speed); } /* int RobotControl::getIRrecvResult(){ messageOut.writeByte(COMMAND_GET_IRRECV); messageOut.sendData(); //delay(10); while(!messageIn.receiveData()); if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){ return messageIn.readInt(); } return -1; } */
#include "ArduinoRobot.h"
#include "EasyTransfer2.h"
void RobotControl::motorsStop(){
messageOut.writeByte(COMMAND_MOTORS_STOP);
messageOut.sendData();
}
void RobotControl::motorsWrite(int speedLeft,int speedRight){
messageOut.writeByte(COMMAND_RUN);
messageOut.writeInt(speedLeft);
messageOut.writeInt(speedRight);
messageOut.sendData();
}
void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){
int16_t speedLeft=255*speedLeftPct/100.0;
int16_t speedRight=255*speedRightPct/100.0;
motorsWrite(speedLeft,speedRight);
}
void RobotControl::pointTo(int angle){
int target=angle;
uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
int currentAngle=compassRead();
int diff=target-currentAngle;
direction=180-(diff+360)%360;
if(direction>0){
motorsWrite(speed,-speed);//right
delay(10);
}else{
motorsWrite(-speed,speed);//left
delay(10);
}
//if(diff<-180)
// diff += 360;
//else if(diff> 180)
// diff -= 360;
//direction=-diff;
if(abs(diff)<5){
motorsStop();
return;
}
}
}
void RobotControl::turn(int angle){
int originalAngle=compassRead();
int target=originalAngle+angle;
pointTo(target);
/*uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
if(direction>0){
motorsWrite(speed,speed);//right
delay(10);
}else{
motorsWrite(-speed,-speed);//left
delay(10);
}
int currentAngle=compassRead();
int diff=target-currentAngle;
if(diff<-180)
diff += 360;
else if(diff> 180)
diff -= 360;
direction=-diff;
if(abs(diff)<5){
motorsWrite(0,0);
return;
}
}*/
}
void RobotControl::moveForward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::moveBackward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::turnLeft(int speed){
motorsWrite(speed,255);
}
void RobotControl::turnRight(int speed){
motorsWrite(255,speed);
}
/*
int RobotControl::getIRrecvResult(){
messageOut.writeByte(COMMAND_GET_IRRECV);
messageOut.sendData();
//delay(10);
while(!messageIn.receiveData());
if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){
return messageIn.readInt();
}
return -1;
}
*/

30
libraries/Robot_Control/src/communication.cpp
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@ -1 +1,29 @@
#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(); }
#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();
}