Merge branch 'merge-1.0.5' into ide-1.5.x-discovery

1 files changed, 103 insertions, 0 deletions

diff --git a/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino b/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino
new file mode 100644
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+++ b/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino
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+/* 6 Wheel Calibration
+
+ Use this sketch to calibrate the wheels in your robot. 
+ Your robot should drive as straight as possible when 
+ putting both motors at the same speed.
+
+ Run the software and follow the on-screen instructions. 
+ Use the trimmer on the motor board to make sure the 
+ robot is working at its best!
+ Circuit:
+ * Arduino Robot
+ 
+ created 1 May 2013
+ by X. Yang
+ modified 12 May 2013
+ by D. Cuartielles
+ 
+ This example is in the public domain
+ */
+
+#include <ArduinoRobot.h> // inport the robot librsry
+// import the utility library
+// a description of its funtionality is below
+#include <utility/RobotTextManager.h> 
+
+// arrays to hold the text for instructions
+char script1[] ="Wheel Calibration";
+char script2[] ="1. Put Robot on a\n flat surface";
+char script3[] ="2. Adjust speed with the knob on top";
+char script4[] ="3. If robot goes\n straight, it's done";
+char script5[] ="4. Use screwdriver\n on the bottom trim";
+char script6[] ="- Robot turns left,\n screw it clockwise;";
+char script7[] ="- Turns right, screw it ct-colockwise;";
+char script8[] ="5. Repeat 4 until\n going straight";
+
+int speedRobot;  //robot speed
+int calibrationValue; //value for calibrate difference between wheels
+
+void setup(){
+  //necessary initialization sequence
+  Robot.begin();
+  Robot.beginTFT();
+  Robot.beginSD();
+  
+  // left and top margin for displaying text
+  // see below for a description of this
+  textManager.setMargin(5,5);
+  // write all instructions at once
+  writeAllscript();
+  
+}
+void loop(){
+  //Control the robot's speed with knob on top
+  int speedRobot=map(Robot.knobRead(),0,1023,-255,255);
+  Robot.motorsWrite(speedRobot,speedRobot);
+
+  //read value of the pot on motor baord,to clibrate the wheels
+  int calibrationValue=map(Robot.trimRead(),0,1023,-30,30);
+  // print the values to the screen
+  Robot.debugPrint(calibrationValue,110,145);
+  delay(40);
+
+}
+
+void writeAllscript(){
+  //prints 8 scripts one after another
+  textManager.writeText(0,0,script1);
+  textManager.writeText(1,0,script2);
+  textManager.writeText(3,0,script3);
+  textManager.writeText(5,0,script4);
+  textManager.writeText(7,0,script5);
+  textManager.writeText(9,0,script6);
+  textManager.writeText(11,0,script7);
+  textManager.writeText(13,0,script8);
+}
+
+/**
+textManager mostly contains helper functions for 
+R06_Wheel_Calibration and R01_Hello_User.
+
+  textManager.setMargin(margin_left, margin_top):
+    Configure the left and top margin for text
+    display. The margins will be used by 
+    textManager.writeText().
+    Parameters:
+      margin_left, margin_top: int, the margin values
+      from the top and left side of the screen.
+    Returns:
+      none
+    
+  textManager.writeText(line,column,text):
+    Display text on the specific line and column. 
+    It's different from Robot.text() which
+    uses pixels for positioning the text.
+    Parameters:
+      line:int, which line is the text displayed. Each line
+        is 10px high.
+      column:int,  which column is the text displayed. Each
+        column is 8px wide.
+      text:a char array(string) of the text to be displayed.
+    Returns:
+      none
+*/