SPI library to the new format and moved Robot_Motor and Robot_Control libraries

1 files changed, 0 insertions, 274 deletions

diff --git a/libraries/Robot_Control/Sensors.cpp b/libraries/Robot_Control/Sensors.cpp
deleted file mode 100644
index b651c28..0000000
--- a/libraries/Robot_Control/Sensors.cpp
+++ /dev/null
@@ -1,274 +0,0 @@
-#include "ArduinoRobot.h"
-#include "Multiplexer.h"
-#include "Wire.h"
-bool RobotControl::digitalRead(uint8_t port){
-	uint8_t type=_getTypeCode(port);
-	switch(type){
-		case TYPE_TOP_TK:
-			return _digitalReadTopMux(port);
-			break;
-		case TYPE_TOP_TKD:
-			return _digitalReadTopPin(port);
-			break;
-		case TYPE_BOTTOM_TK:
-			return _requestDigitalRead(port);
-			break;
-	}
-}
-int RobotControl::analogRead(uint8_t port){
-	uint8_t type=_getTypeCode(port);
-	switch(type){
-		case TYPE_TOP_TK:
-			return _analogReadTopMux(port);
-			break;
-		case TYPE_TOP_TKD:
-			return _analogReadTopPin(port);
-			break;
-		case TYPE_BOTTOM_TK:
-			return _requestAnalogRead(port);
-			break;
-	}
-}
-void RobotControl::digitalWrite(uint8_t port, bool value){
-	uint8_t type=_getTypeCode(port);
-	switch(type){
-		case TYPE_TOP_TK:
-			//Top TKs can't use digitalWrite?
-			break;
-		case TYPE_TOP_TKD:
-			_digitalWriteTopPin(port, value);
-			break;
-		case TYPE_BOTTOM_TK:
-			_requestDigitalWrite(port, value);
-			break;
-	}
-}
-void RobotControl::analogWrite(uint8_t port, uint8_t value){
-	if(port==TKD4)
-		::analogWrite(port,value);
-}
-
-uint8_t RobotControl::_getTypeCode(uint8_t port){
-	switch(port){
-		case TK0:
-		case TK1:
-		case TK2:
-		case TK3:
-		case TK4:
-		case TK5:
-		case TK6:
-		case TK7:
-			return TYPE_TOP_TK;
-			break;
-			
-		case TKD0:
-		case TKD1:
-		case TKD2:
-		case TKD3:
-		case TKD4:
-		case TKD5:
-		case LED1:
-			return TYPE_TOP_TKD;
-			break;
-			
-		case B_TK1:
-		case B_TK2:
-		case B_TK3:
-		case B_TK4:
-			return TYPE_BOTTOM_TK;
-			break;
-	}
-}
-uint8_t RobotControl::_portToTopMux(uint8_t port){
-	switch(port){
-		case TK0:
-			return 0;
-		case TK1:
-			return 1;
-		case TK2:
-			return 2;
-		case TK3:
-			return 3;
-		case TK4:
-			return 4;
-		case TK5:
-			return 5;
-		case TK6:
-			return 6;
-		case TK7:
-			return 7;
-	}
-}
-uint8_t RobotControl::_topDPortToAPort(uint8_t port){
-	switch(port){
-		case TKD0:
-		  return A1;
-		case TKD1:
-		  return A2;
-		case TKD2:
-		  return A3;
-		case TKD3:
-		  return A4;
-		case TKD4:
-		  return A7;
-		case TKD5:
-		  return A11;
-	}
-}
-int* RobotControl::parseMBDPort(uint8_t port){
-	//Serial.println(port);
-	switch(port){
-		case B_TK1:
-			return &motorBoardData._B_TK1;
-		case B_TK2:
-			return &motorBoardData._B_TK2;
-		case B_TK3:
-			return &motorBoardData._B_TK3;
-		case B_TK4:
-			return &motorBoardData._B_TK4;
-		
-		/*		
-		case B_IR0:
-			return &motorBoardData._B_IR0;
-		case B_IR1:
-			return &motorBoardData._B_IR1;
-		case B_IR2:
-			return &motorBoardData._B_IR2;
-		case B_IR3:
-			return &motorBoardData._B_IR3;
-		case B_IR4:
-			return &motorBoardData._B_IR4;*/
-	}
-}
-int RobotControl::get_motorBoardData(uint8_t port){
-	return *parseMBDPort(port);
-}
-void RobotControl::set_motorBoardData(uint8_t port, int data){
-	*parseMBDPort(port)=data;
-}
-
-bool RobotControl::_digitalReadTopMux(uint8_t port){
-	uint8_t num=_portToTopMux(port);
-	return Multiplexer::getDigitalValueAt(num);
-}
-
-int RobotControl::_analogReadTopMux(uint8_t port){
-	uint8_t num=_portToTopMux(port);
-	return Multiplexer::getAnalogValueAt(num);
-}
-
-bool RobotControl::_digitalReadTopPin(uint8_t port){
-	return ::digitalRead(port);
-}
-int RobotControl::_analogReadTopPin(uint8_t port){
-	uint8_t aPin=_topDPortToAPort(port);
-	return ::analogRead(aPin);
-}
-void RobotControl::_digitalWriteTopPin(uint8_t port, bool value){
-	::digitalWrite(port, value);
-}
-
-bool RobotControl::_requestDigitalRead(uint8_t port){
-	messageOut.writeByte(COMMAND_DIGITAL_READ);
-	messageOut.writeByte(port);//B_TK1 - B_TK4
-	messageOut.sendData();
-	delay(10);
-	if(messageIn.receiveData()){
-		//Serial.println("*************");
-		uint8_t cmd=messageIn.readByte();
-		//Serial.print("cmd: ");
-		//Serial.println(cmd);
-		if(!(cmd==COMMAND_DIGITAL_READ_RE))
-			return false;
-			
-		uint8_t pt=messageIn.readByte(); //Bottom TK port codename
-		//Serial.print("pt: ");
-		//Serial.println(pt);
-		set_motorBoardData(pt,messageIn.readByte());
-		return get_motorBoardData(port);
-	}
-}
-int RobotControl::_requestAnalogRead(uint8_t port){
-	messageOut.writeByte(COMMAND_ANALOG_READ);
-	messageOut.writeByte(port);//B_TK1 - B_TK4
-	messageOut.sendData();
-	delay(10);
-	if(messageIn.receiveData()){
-		uint8_t cmd=messageIn.readByte();
-		//Serial.println("*************");
-		//Serial.print("cmd: ");
-		//Serial.println(cmd);
-		if(!(cmd==COMMAND_ANALOG_READ_RE))
-			return false;
-			
-		uint8_t pt=messageIn.readByte();
-		//Serial.print("pt: ");
-		//Serial.println(pt);
-		set_motorBoardData(pt,messageIn.readInt());
-		return get_motorBoardData(port);
-	}
-}
-void RobotControl::_requestDigitalWrite(uint8_t selector, uint8_t value){
-	messageOut.writeByte(COMMAND_DIGITAL_WRITE);
-	messageOut.writeByte(selector);//B_TK1 - B_TK4
-	messageOut.writeByte(value);
-	messageOut.sendData();
-}
-
-
-
-
-
-void RobotControl::updateIR(){
-	messageOut.writeByte(COMMAND_READ_IR);
-	messageOut.sendData();
-	delay(10);
-	if(messageIn.receiveData()){
-		if(messageIn.readByte()==COMMAND_READ_IR_RE){
-			for(int i=0;i<5;i++){
-				IRarray[i]=messageIn.readInt();
-			}
-		}
-	}
-}
-
-int RobotControl::knobRead(){
-	return ::analogRead(POT);
-}
-
-int RobotControl::trimRead(){
-	messageOut.writeByte(COMMAND_READ_TRIM);
-	messageOut.sendData();
-	delay(10);
-	if(messageIn.receiveData()){
-		uint8_t cmd=messageIn.readByte();
-		if(!(cmd==COMMAND_READ_TRIM_RE))
-			return false;
-			
-		uint16_t pt=messageIn.readInt();
-		return pt;
-	}
-}
-
-uint16_t RobotControl::compassRead(){
-	return Compass::getReading();
-}
-
-/*
-void RobotControl::beginUR(uint8_t pinTrigger, uint8_t pinEcho){
-	pinTrigger_UR=pinTrigger;
-	pinEcho_UR=pinEcho;
-	
-	pinMode(pinEcho_UR, INPUT);
-	pinMode(pinTrigger_UR, OUTPUT);
-}
-uint16_t RobotControl::getDistance(){
-	digitalWrite(pinTrigger_UR, LOW);                   // Set the trigger pin to low for 2uS
-	delayMicroseconds(2);
-	digitalWrite(pinTrigger_UR, HIGH);                  // Send a 10uS high to trigger ranging
-	delayMicroseconds(10);
-	digitalWrite(pinTrigger_UR, LOW);                   // Send pin low again
-	uint16_t distance = pulseIn(pinEcho_UR, HIGH);        // Read in times pulse
-	distance= distance/58;                        // Calculate distance from time of pulse
-	return distance;
-}*/
\ No newline at end of file