Merged 1.0.5

1 files changed, 274 insertions, 0 deletions

diff --git a/libraries/Robot_Control/Sensors.cpp b/libraries/Robot_Control/Sensors.cpp
new file mode 100644
index 0000000..b651c28
--- /dev/null
+++ b/libraries/Robot_Control/Sensors.cpp
@@ -0,0 +1,274 @@
+#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;
+}*/
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