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

1 files changed, 0 insertions, 265 deletions

diff --git a/libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp b/libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp
deleted file mode 100644
index 7740a06..0000000
--- a/libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp
+++ /dev/null
@@ -1,265 +0,0 @@
-#include "ArduinoRobotMotorBoard.h"
-#include "EasyTransfer2.h"
-#include "Multiplexer.h"
-#include "LineFollow.h"
-
-RobotMotorBoard::RobotMotorBoard(){
-	//LineFollow::LineFollow();
-}
-/*void RobotMotorBoard::beginIRReceiver(){
-	IRrecv::enableIRIn();
-}*/
-void RobotMotorBoard::begin(){
-	//initialze communication
-	Serial1.begin(9600);
-	messageIn.begin(&Serial1);
-	messageOut.begin(&Serial1);
-
-	//init MUX
-	uint8_t MuxPins[]={MUXA,MUXB,MUXC};
-	this->IRs.begin(MuxPins,MUX_IN,3);
-	pinMode(MUXI,INPUT);
-	digitalWrite(MUXI,LOW);
-	
-	isPaused=false;
-}
-
-void RobotMotorBoard::process(){
-	if(isPaused)return;//skip process if the mode is paused
-	
-	if(mode==MODE_SIMPLE){
-		//Serial.println("s");
-		//do nothing? Simple mode is just about getting commands
-	}else if(mode==MODE_LINE_FOLLOW){
-		//do line following stuff here.
-		LineFollow::runLineFollow();
-	}else if(mode==MODE_ADJUST_MOTOR){
-		//Serial.println('a');
-		//motorAdjustment=analogRead(POT);
-		//setSpeed(255,255);
-		//delay(100);
-	}
-}
-void RobotMotorBoard::pauseMode(bool onOff){
-	if(onOff){
-		isPaused=true;
-	}else{
-		isPaused=false;
-	}
-	stopCurrentActions();
-
-}
-void RobotMotorBoard::parseCommand(){
-	uint8_t modeName;
-	uint8_t codename;
-	int value;
-	int speedL;
-	int speedR;
-	if(this->messageIn.receiveData()){
-		//Serial.println("data received");
-		uint8_t command=messageIn.readByte();
-		//Serial.println(command);
-		switch(command){
-			case COMMAND_SWITCH_MODE:
-				modeName=messageIn.readByte();
-				setMode(modeName);
-				break;
-			case COMMAND_RUN:
-				if(mode==MODE_LINE_FOLLOW)break;//in follow line mode, the motor does not follow commands
-				speedL=messageIn.readInt();
-				speedR=messageIn.readInt();
-				motorsWrite(speedL,speedR);
-				break;
-			case COMMAND_MOTORS_STOP:
-				motorsStop();
-				break;
-			case COMMAND_ANALOG_WRITE:
-				codename=messageIn.readByte();
-				value=messageIn.readInt();
-				_analogWrite(codename,value);
-				break;
-			case COMMAND_DIGITAL_WRITE:
-				codename=messageIn.readByte();
-				value=messageIn.readByte();
-				_digitalWrite(codename,value);
-				break;
-			case COMMAND_ANALOG_READ:
-				codename=messageIn.readByte();
-				_analogRead(codename);
-				break;
-			case COMMAND_DIGITAL_READ:
-				codename=messageIn.readByte();
-				_digitalRead(codename);
-				break;
-			case COMMAND_READ_IR:
-				_readIR();
-				break;
-			case COMMAND_READ_TRIM:
-				_readTrim();
-				break;
-			case COMMAND_PAUSE_MODE:
-				pauseMode(messageIn.readByte());//onOff state
-				break;
-			case COMMAND_LINE_FOLLOW_CONFIG:
-				LineFollow::config(
-					messageIn.readByte(),	//KP
-					messageIn.readByte(),	//KD
-					messageIn.readByte(),	//robotSpeed
-					messageIn.readByte()	//IntegrationTime
-				);
-				break;
-		}
-	}
-	//delay(5);
-}
-uint8_t RobotMotorBoard::parseCodename(uint8_t codename){
-	switch(codename){
-		case B_TK1:
-			return TK1;
-		case B_TK2:
-			return TK2;
-		case B_TK3:
-			return TK3;
-		case B_TK4:
-			return TK4;
-	}
-}
-uint8_t RobotMotorBoard::codenameToAPin(uint8_t codename){
-	switch(codename){
-		case B_TK1:
-			return A0;
-		case B_TK2:
-			return A1;
-		case B_TK3:
-			return A6;
-		case B_TK4:
-			return A11;
-	}
-}
-
-void RobotMotorBoard::setMode(uint8_t mode){
-	if(mode==MODE_LINE_FOLLOW){
-		LineFollow::calibIRs();
-	}
-	/*if(mode==SET_MOTOR_ADJUSTMENT){
-			save_motor_adjustment_to_EEPROM();
-		}
-	*/
-	/*if(mode==MODE_IR_CONTROL){
-		beginIRReceiver();
-	}*/
-	this->mode=mode;
-	//stopCurrentActions();//If line following, this should stop the motors
-}
-
-void RobotMotorBoard::stopCurrentActions(){
-	motorsStop();
-	//motorsWrite(0,0);
-}
-
-void RobotMotorBoard::motorsWrite(int speedL, int speedR){
-	/*Serial.print(speedL);
-	Serial.print(" ");
-	Serial.println(speedR);*/
-	//motor adjustment, using percentage
-	_refreshMotorAdjustment();
-	
-	if(motorAdjustment<0){
-		speedR*=(1+motorAdjustment);
-	}else{
-		speedL*=(1-motorAdjustment);
-	}
-	
-	if(speedL>0){
-		analogWrite(IN_A1,speedL);
-		analogWrite(IN_A2,0);
-	}else{
-		analogWrite(IN_A1,0);
-		analogWrite(IN_A2,-speedL);
-	}
-	
-	if(speedR>0){
-		analogWrite(IN_B1,speedR);
-		analogWrite(IN_B2,0);
-	}else{
-		analogWrite(IN_B1,0);
-		analogWrite(IN_B2,-speedR);
-	}
-}
-void RobotMotorBoard::motorsWritePct(int speedLpct, int speedRpct){
-	//speedLpct, speedRpct ranges from -100 to 100
-	motorsWrite(speedLpct*2.55,speedRpct*2.55);
-}
-void RobotMotorBoard::motorsStop(){
-	analogWrite(IN_A1,255);
-	analogWrite(IN_A2,255);
-
-	analogWrite(IN_B1,255);
-	analogWrite(IN_B2,255);
-}
-
-
-/*
-*
-*
-*	Input and Output ports
-*
-*
-*/
-void RobotMotorBoard::_digitalWrite(uint8_t codename,bool value){
-	uint8_t pin=parseCodename(codename);
-	digitalWrite(pin,value);
-}
-void RobotMotorBoard::_analogWrite(uint8_t codename,int value){
-	//There's no PWM available on motor board
-}
-void RobotMotorBoard::_digitalRead(uint8_t codename){
-	uint8_t pin=parseCodename(codename);
-	bool value=digitalRead(pin);
-	messageOut.writeByte(COMMAND_DIGITAL_READ_RE);
-	messageOut.writeByte(codename);
-	messageOut.writeByte(value);
-	messageOut.sendData();
-}
-void RobotMotorBoard::_analogRead(uint8_t codename){
-	uint8_t pin=codenameToAPin(codename);
-	int value=analogRead(pin);
-	messageOut.writeByte(COMMAND_ANALOG_READ_RE);
-	messageOut.writeByte(codename);
-	messageOut.writeInt(value);
-	messageOut.sendData();
-}
-int RobotMotorBoard::IRread(uint8_t num){
-	IRs.selectPin(num-1); //To make consistant with the pins labeled on the board
-	return IRs.getAnalogValue();
-}
-
-void RobotMotorBoard::_readIR(){
-	//Serial.println("readIR");
-	int value;
-	messageOut.writeByte(COMMAND_READ_IR_RE);
-	for(int i=1;i<6;i++){
-		value=IRread(i);
-		messageOut.writeInt(value);
-	}
-	messageOut.sendData();
-}
-
-void RobotMotorBoard::_readTrim(){
-	int value=analogRead(TRIM);
-	messageOut.writeByte(COMMAND_READ_TRIM_RE);
-	messageOut.writeInt(value);
-	messageOut.sendData();	
-}
-
-void RobotMotorBoard::_refreshMotorAdjustment(){
-	motorAdjustment=map(analogRead(TRIM),0,1023,-30,30)/100.0;
-}
-
-void RobotMotorBoard::reportActionDone(){
-	setMode(MODE_SIMPLE);
-	messageOut.writeByte(COMMAND_ACTION_DONE);
-	messageOut.sendData();
-}
-
-RobotMotorBoard RobotMotor=RobotMotorBoard();
\ No newline at end of file