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125 lines
2.9 KiB
C++
125 lines
2.9 KiB
C++
#ifndef ArduinoRobot_h
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#define ArduinoRobot_h
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#include "EasyTransfer2.h"
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#include "Multiplexer.h"
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#include "LineFollow.h"
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//#include "IRremote.h"
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#if ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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//Command code
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#define COMMAND_SWITCH_MODE 0
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#define COMMAND_RUN 10
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#define COMMAND_MOTORS_STOP 11
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#define COMMAND_ANALOG_WRITE 20
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#define COMMAND_DIGITAL_WRITE 30
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#define COMMAND_ANALOG_READ 40
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#define COMMAND_ANALOG_READ_RE 41
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#define COMMAND_DIGITAL_READ 50
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#define COMMAND_DIGITAL_READ_RE 51
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#define COMMAND_READ_IR 60
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#define COMMAND_READ_IR_RE 61
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#define COMMAND_ACTION_DONE 70
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#define COMMAND_READ_TRIM 80
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#define COMMAND_READ_TRIM_RE 81
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#define COMMAND_PAUSE_MODE 90
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#define COMMAND_LINE_FOLLOW_CONFIG 100
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//component codename
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#define CN_LEFT_MOTOR 0
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#define CN_RIGHT_MOTOR 1
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#define CN_IR 2
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//motor board modes
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#define MODE_SIMPLE 0
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#define MODE_LINE_FOLLOW 1
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#define MODE_ADJUST_MOTOR 2
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#define MODE_IR_CONTROL 3
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//bottom TKs, just for communication purpose
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#define B_TK1 201
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#define B_TK2 202
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#define B_TK3 203
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#define B_TK4 204
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/*
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A message structure will be:
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switch mode (2):
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byte COMMAND_SWITCH_MODE, byte mode
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run (5):
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byte COMMAND_RUN, int speedL, int speedR
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analogWrite (3):
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byte COMMAND_ANALOG_WRITE, byte codename, byte value;
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digitalWrite (3):
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byte COMMAND_DIGITAL_WRITE, byte codename, byte value;
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analogRead (2):
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byte COMMAND_ANALOG_READ, byte codename;
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analogRead _return_ (4):
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byte COMMAND_ANALOG_READ_RE, byte codename, int value;
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digitalRead (2):
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byte COMMAND_DIGITAL_READ, byte codename;
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digitalRead _return_ (4):
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byte COMMAND_DIGITAL_READ_RE, byte codename, int value;
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read IR (1):
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byte COMMAND_READ_IR;
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read IR _return_ (9):
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byte COMMAND_READ_IR_RE, int valueA, int valueB, int valueC, int valueD;
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*/
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class RobotMotorBoard:public LineFollow{
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public:
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RobotMotorBoard();
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void begin();
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void process();
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void parseCommand();
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int IRread(uint8_t num);
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void setMode(uint8_t mode);
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void pauseMode(bool onOff);
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void motorsWrite(int speedL, int speedR);
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void motorsWritePct(int speedLpct, int speedRpct);//write motor values in percentage
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void motorsStop();
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private:
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float motorAdjustment;//-1.0 ~ 1.0, whether left is lowered or right is lowered
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//convert codename to actual pins
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uint8_t parseCodename(uint8_t codename);
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uint8_t codenameToAPin(uint8_t codename);
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void stopCurrentActions();
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//void sendCommand(byte command,byte codename,int value);
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void _analogWrite(uint8_t codename, int value);
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void _digitalWrite(uint8_t codename, bool value);
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void _analogRead(uint8_t codename);
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void _digitalRead(uint8_t codename);
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void _readIR();
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void _readTrim();
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void _refreshMotorAdjustment();
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Multiplexer IRs;
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uint8_t mode;
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uint8_t isPaused;
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EasyTransfer2 messageIn;
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EasyTransfer2 messageOut;
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//Line Following
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void reportActionDone();
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};
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extern RobotMotorBoard RobotMotor;
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#endif |