Merged 1.0.5

1 files changed, 360 insertions, 0 deletions

diff --git a/libraries/Robot_Control/ArduinoRobot.h b/libraries/Robot_Control/ArduinoRobot.h
new file mode 100644
index 0000000..becdca8
--- /dev/null
+++ b/libraries/Robot_Control/ArduinoRobot.h
@@ -0,0 +1,360 @@
+#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
+
+//bottom TKs, just for communication purpose
+#define B_TK1 201
+#define B_TK2 202
+#define B_TK3 203
+#define B_TK4 204
+
+//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
\ No newline at end of file