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Federico Fissore
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Converted Robot_Control files to unix format for better git diffs
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+142
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2 files changed

+142
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‎libraries/Robot_Control/src/Motors.cpp‎

Lines changed: 113 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1,113 @@
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#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;}*/
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#include "ArduinoRobot.h"
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#include "EasyTransfer2.h"
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void RobotControl::motorsStop(){
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messageOut.writeByte(COMMAND_MOTORS_STOP);
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messageOut.sendData();
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}
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void RobotControl::motorsWrite(int speedLeft,int speedRight){
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messageOut.writeByte(COMMAND_RUN);
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messageOut.writeInt(speedLeft);
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messageOut.writeInt(speedRight);
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messageOut.sendData();
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}
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void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){
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int16_t speedLeft=255*speedLeftPct/100.0;
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int16_t speedRight=255*speedRightPct/100.0;
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motorsWrite(speedLeft,speedRight);
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}
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void RobotControl::pointTo(int angle){
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int target=angle;
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uint8_t speed=80;
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target=target%360;
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if(target<0){
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target+=360;
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}
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int direction=angle;
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while(1){
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int currentAngle=compassRead();
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int diff=target-currentAngle;
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direction=180-(diff+360)%360;
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if(direction>0){
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motorsWrite(speed,-speed);//right
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delay(10);
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}else{
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motorsWrite(-speed,speed);//left
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delay(10);
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}
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//if(diff<-180)
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// diff += 360;
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//else if(diff> 180)
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// diff -= 360;
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//direction=-diff;
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if(abs(diff)<5){
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motorsStop();
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return;
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}
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}
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}
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void RobotControl::turn(int angle){
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int originalAngle=compassRead();
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int target=originalAngle+angle;
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pointTo(target);
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/*uint8_t speed=80;
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target=target%360;
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if(target<0){
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target+=360;
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}
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int direction=angle;
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while(1){
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if(direction>0){
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motorsWrite(speed,speed);//right
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delay(10);
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}else{
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motorsWrite(-speed,-speed);//left
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delay(10);
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}
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int currentAngle=compassRead();
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int diff=target-currentAngle;
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if(diff<-180)
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diff += 360;
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else if(diff> 180)
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diff -= 360;
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direction=-diff;
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if(abs(diff)<5){
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motorsWrite(0,0);
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return;
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}
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}*/
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}
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void RobotControl::moveForward(int speed){
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motorsWrite(speed,speed);
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}
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void RobotControl::moveBackward(int speed){
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motorsWrite(speed,speed);
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}
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void RobotControl::turnLeft(int speed){
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motorsWrite(speed,255);
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}
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void RobotControl::turnRight(int speed){
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motorsWrite(255,speed);
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}
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/*
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int RobotControl::getIRrecvResult(){
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messageOut.writeByte(COMMAND_GET_IRRECV);
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messageOut.sendData();
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//delay(10);
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while(!messageIn.receiveData());
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if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){
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return messageIn.readInt();
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}
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return -1;
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}
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*/

‎libraries/Robot_Control/src/communication.cpp‎

Lines changed: 29 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1,29 @@
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#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();}
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#include <ArduinoRobot.h>
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bool RobotControl::isActionDone(){
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if(messageIn.receiveData()){
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if(messageIn.readByte()==COMMAND_ACTION_DONE){
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return true;
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}
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}
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return false;
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}
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void RobotControl::pauseMode(uint8_t onOff){
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messageOut.writeByte(COMMAND_PAUSE_MODE);
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if(onOff){
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messageOut.writeByte(true);
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}else{
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messageOut.writeByte(false);
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}
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messageOut.sendData();
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}
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void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
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messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
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messageOut.writeByte(KP);
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messageOut.writeByte(KD);
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messageOut.writeByte(robotSpeed);
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messageOut.writeByte(intergrationTime);
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messageOut.sendData();
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}

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