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Arduino/libraries/Robot_Control/ArduinoRobot.h

374 lines
9.5 KiB
C++

#ifndef ArduinoRobot_h
#define ArduinoRobot_h
#include "Arduino_LCD.h" // Hardware-specific library
//#include "FormattedText.h"
#include "SquawkSD.h"
#include "Multiplexer.h"
#include "EasyTransfer2.h"
#include "EEPROM_I2C.h"
#include "Compass.h"
#include "Fat16.h"
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#define BUTTON_NONE -1
#define BUTTON_LEFT 0
#define BUTTON_DOWN 1
#define BUTTON_UP 2
#define BUTTON_RIGHT 3
#define BUTTON_MIDDLE 4
#define NUMBER_BUTTONS 5
//beep length
#define BEEP_SIMPLE 0
#define BEEP_DOUBLE 1
#define BEEP_LONG 2
// image locations on the EEPROM
#define HOME_BMP 0
#define BATTERY_BMP 2048
#define COMPASS_BMP 4096
#define CONTROL_BMP 6144
#define GEARS_BMP 8192
#define LIGHT_BMP 10240
#define OSCILLO_BMP 12288
#define VOLT_BMP 14336
#define INICIO_BMP 16384 // this is a full screen splash
//Command code
#define COMMAND_SWITCH_MODE 0
#define COMMAND_RUN 10
#define COMMAND_MOTORS_STOP 11
#define COMMAND_ANALOG_WRITE 20
#define COMMAND_DIGITAL_WRITE 30
#define COMMAND_ANALOG_READ 40
#define COMMAND_ANALOG_READ_RE 41
#define COMMAND_DIGITAL_READ 50
#define COMMAND_DIGITAL_READ_RE 51
#define COMMAND_READ_IR 60
#define COMMAND_READ_IR_RE 61
#define COMMAND_ACTION_DONE 70
#define COMMAND_READ_TRIM 80
#define COMMAND_READ_TRIM_RE 81
#define COMMAND_PAUSE_MODE 90
#define COMMAND_LINE_FOLLOW_CONFIG 100
//component codename
#define CN_LEFT_MOTOR 0
#define CN_RIGHT_MOTOR 1
#define CN_IR 2
//motor board modes
#define MODE_SIMPLE 0
#define MODE_LINE_FOLLOW 1
#define MODE_ADJUST_MOTOR 2
#define MODE_IR_CONTROL 3
//port types, for R/W
#define TYPE_TOP_TK 0
#define TYPE_TOP_TKD 1
#define TYPE_BOTTOM_TK 2
//top TKs
#define TK0 100
#define TK1 101
#define TK2 102
#define TK3 103
#define TK4 104
#define TK5 105
#define TK6 106
#define TK7 107
#define M0 TK0
#define M1 TK1
#define M2 TK2
#define M3 TK3
#define M4 TK4
#define M5 TK5
#define M6 TK6
#define M7 TK7
//bottom TKs, just for communication purpose
#define B_TK1 201
#define B_TK2 202
#define B_TK3 203
#define B_TK4 204
#define D10 B_TK1
#define D9 B_TK2
#define D8 B_TK4
#define D7 B_TK3
//bottom IRs, for communication purpose
#define B_IR0 210
#define B_IR1 211
#define B_IR2 212
#define B_IR3 213
#define B_IR4 214
#ifndef LED1
#define LED1 17
#endif
//320 - 337 username,
#define ADDRESS_USERNAME 320
//338 - 355 robotname,
#define ADDRESS_ROBOTNAME 338
//356 - 373 cityname,
#define ADDRESS_CITYNAME 356
//374- 391 countryname,
#define ADDRESS_COUNTRYNAME 374
//508-511 robot info
#define ADDRESS_ROBOTINFO 508
#define BLACK ILI9163C_BLACK
#define BLUE ILI9163C_BLUE
#define RED ILI9163C_RED
#define GREEN ILI9163C_GREEN
#define CYAN ILI9163C_CYAN
#define MAGENTA ILI9163C_MAGENTA
#define YELLOW ILI9163C_YELLOW
#define WHITE ILI9163C_WHITE
//A data structure for storing the current state of motor board
struct MOTOR_BOARD_DATA{
int _B_TK1;
int _B_TK2;
int _B_TK3;
int _B_TK4;
/*int _B_IR0;
int _B_IR1;
int _B_IR2;
int _B_IR3;
int _B_IR4;*/
};
/*
A message structure will be:
switch mode:
byte COMMAND_SWITCH_MODE, byte mode
run:
byte COMMAND_RUN, int speedL, int speedR
analogWrite:
byte COMMAND_ANALOG_WRITE, byte codename, byte value;
digitalWrite:
byte COMMAND_DIGITAL_WRITE, byte codename, byte value;
analogRead:
byte COMMAND_ANALOG_READ, byte codename;
analogRead return:
byte COMMAND_ANALOG_READ_RE, byte codename, int value;
digitalRead return:
byte COMMAND_DIGITAL_READ_RE, byte codename, byte value;
read IR:
byte COMMAND_READ_IR, int valueA, int valueB, int valueC, int valueD;
*/
#define NUM_EEPROM_BMP 10
struct EEPROM_BMP{
char name[8];
uint8_t width;
uint8_t height;
uint16_t address;
};
//if you call #undef USE_SQUAWK_SYNTH_SD at the beginning of your sketch,
//it's going to remove anything regarding sound playing
class RobotControl:public Multiplexer,
public EEPROM_I2C,
public Compass,
public SquawkSynthSD,
//public FormattedText
public Arduino_LCD
{
public:
RobotControl();
void begin();
void setMode(uint8_t mode);
//Read & Write, TK0 - TK7, TKD0 - TKD1, bottom TK0 - TK4
bool digitalRead(uint8_t port);
int analogRead(uint8_t port);
void digitalWrite(uint8_t port, bool value);
void analogWrite(uint8_t port, uint8_t value);//It's not available, as there's no pin can be used for analog write
//IR sensors from the bottom board
//define an array as "int arr[4];", and supply the arry name here
uint16_t IRarray[5];
void updateIR();
//on board Potentiometor
int knobRead();
//Potentiometor of the motor board
int trimRead();
//on board piezo
void beginSpeaker(uint16_t frequency=44100);
void playMelody(char* script);
void playFile(char* filename);
void stopPlayFile();
void beep(int beep_length=BEEP_SIMPLE);
void tempoWrite(int tempo);
void tuneWrite(float tune);
//compass
uint16_t compassRead();
void drawCompass(uint16_t value);
void drawBase();
void drawDire(int16_t dire);
//keyboard
void keyboardCalibrate(int *vals);
int8_t keyboardRead();//return the key that is being pressed?Has been pressed(with _processKeyboard)?
//movement
void moveForward(int speed);
void moveBackward(int speed);
void turnLeft(int speed);
void turnRight(int speed);
void motorsStop();
void motorsWritePct(int speedLeftPct, int speedRightPct);
void motorsWrite(int speedLeft,int speedRight);
void pointTo(int degrees);//turn to an absolute angle from the compass
void turn(int degress);//turn certain degrees from the current heading
//Line Following
void lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);//default 11 5 50 10
//TFT LCD
//use the same commands as Arduino_LCD
void beginTFT(uint16_t foreGround=BLACK, uint16_t background=WHITE);
/*void text(int value, uint8_t posX, uint8_t posY, bool EW);
void text(long value, uint8_t posX, uint8_t posY, bool EW);
void text(char* value, uint8_t posX, uint8_t posY, bool EW);
void text(char value, uint8_t posX, uint8_t posY, bool EW);*/
void debugPrint(long value, uint8_t x=0, uint8_t y=0);
void clearScreen();
void drawBMP(char* filename, uint8_t x, uint8_t y);//detect if draw with EEPROM or SD, and draw it
void _drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height);//draw from EEPROM
void _drawBMP(char* filename, uint8_t x, uint8_t y);//draw from SD
void beginBMPFromEEPROM();
void endBMPFromEEPROM();
uint16_t foreGround;//foreground color
uint16_t backGround;//background color
//SD card
void beginSD();
//Information
void userNameRead(char* container);
void robotNameRead(char* container);
void cityNameRead(char* container);
void countryNameRead(char* container);
void userNameWrite(char* text);
void robotNameWrite(char* text);
void cityNameWrite(char* text);
void countryNameWrite(char* text);
//Others
bool isActionDone();
void pauseMode(uint8_t onOff);
void displayLogos();
void waitContinue(uint8_t key=BUTTON_MIDDLE);
private:
//Read & Write
uint8_t _getTypeCode(uint8_t port);//different ports need different actions
uint8_t _portToTopMux(uint8_t port);//get the number for multiplexer within top TKs
uint8_t _topDPortToAPort(uint8_t port);//get the corrensponding analogIn pin for top TKDs
bool _digitalReadTopMux(uint8_t port);//TK0 - TK7
int _analogReadTopMux(uint8_t port);
bool _digitalReadTopPin(uint8_t port);
int _analogReadTopPin(uint8_t port);
void _digitalWriteTopPin(uint8_t port, bool value);
MOTOR_BOARD_DATA motorBoardData;
int* parseMBDPort(uint8_t port);
int get_motorBoardData(uint8_t port);
void set_motorBoardData(uint8_t port, int value);
bool _requestDigitalRead(uint8_t port);
int _requestAnalogRead(uint8_t port);
void _requestDigitalWrite(uint8_t port, uint8_t value);
//LCD
void _enableLCD();
void _setWrite(uint8_t posX, uint8_t posY);
void _setErase(uint8_t posX, uint8_t posY);
//SD
SdCard card;
Fat16 file;
Fat16 melody;
void _enableSD();
//keyboard
void _processKeyboard(); //need to run in loop, detect if the key is actually pressed
int averageAnalogInput(int pinNum);
//Ultrasonic ranger
//uint8_t pinTrigger_UR;
//uint8_t pinEcho_UR;
//Melody
void playNote(byte period, word length, char modifier);
//Communication
EasyTransfer2 messageOut;
EasyTransfer2 messageIn;
//TFT LCD
bool _isEEPROM_BMP_Allocated;
EEPROM_BMP * _eeprom_bmp;
void _drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height);
void _drawBMP_SD(char* filename, uint8_t x, uint8_t y);
};
inline void RobotControl::userNameRead(char* container){
EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18);
}
inline void RobotControl::robotNameRead(char* container){
EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18);
}
inline void RobotControl::cityNameRead(char* container){
EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18);
}
inline void RobotControl::countryNameRead(char* container){
EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18);
}
inline void RobotControl::userNameWrite(char* text){
EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18);
}
inline void RobotControl::robotNameWrite(char* text){
EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18);
}
inline void RobotControl::cityNameWrite(char* text){
EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18);
}
inline void RobotControl::countryNameWrite(char* text){
EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18);
}
extern RobotControl Robot;
#endif