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

1 files changed, 125 insertions, 0 deletions

diff --git a/libraries/Robot_Motor/ArduinoRobotMotorBoard.h b/libraries/Robot_Motor/ArduinoRobotMotorBoard.h
new file mode 100644
index 0000000..c1004c4
--- /dev/null
+++ b/libraries/Robot_Motor/ArduinoRobotMotorBoard.h
@@ -0,0 +1,125 @@
+#ifndef ArduinoRobot_h
+#define ArduinoRobot_h
+
+#include "EasyTransfer2.h"
+#include "Multiplexer.h"
+#include "LineFollow.h"
+//#include "IRremote.h"
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+//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
+
+//bottom TKs, just for communication purpose
+#define B_TK1 201
+#define B_TK2 202
+#define B_TK3 203
+#define B_TK4 204
+
+/*
+A message structure will be:
+switch mode (2):
+	byte COMMAND_SWITCH_MODE, byte mode
+run (5):
+	byte COMMAND_RUN, int speedL, int speedR
+analogWrite (3):
+	byte COMMAND_ANALOG_WRITE, byte codename, byte value;
+digitalWrite (3):
+	byte COMMAND_DIGITAL_WRITE, byte codename, byte value;
+analogRead (2):
+	byte COMMAND_ANALOG_READ, byte codename;
+analogRead _return_ (4):
+	byte COMMAND_ANALOG_READ_RE, byte codename, int value;
+digitalRead (2):
+	byte COMMAND_DIGITAL_READ, byte codename;
+digitalRead _return_ (4):
+	byte COMMAND_DIGITAL_READ_RE, byte codename, int value;
+read IR (1):
+	byte COMMAND_READ_IR;
+read IR _return_ (9):
+	byte COMMAND_READ_IR_RE, int valueA, int valueB, int valueC, int valueD;
+
+
+*/
+
+class RobotMotorBoard:public LineFollow{
+	public:
+		RobotMotorBoard();
+		void begin();
+		
+		void process();
+		
+		void parseCommand();
+		
+		int IRread(uint8_t num);
+		
+		void setMode(uint8_t mode);
+		void pauseMode(bool onOff);
+		
+		void motorsWrite(int speedL, int speedR);
+		void motorsWritePct(int speedLpct, int speedRpct);//write motor values in percentage
+		void motorsStop();		
+	private:
+		float motorAdjustment;//-1.0 ~ 1.0, whether left is lowered or right is lowered
+		
+		//convert codename to actual pins
+		uint8_t parseCodename(uint8_t codename);
+		uint8_t codenameToAPin(uint8_t codename);
+		
+		void stopCurrentActions();
+		//void sendCommand(byte command,byte codename,int value);
+		
+		void _analogWrite(uint8_t codename, int value);
+		void _digitalWrite(uint8_t codename, bool value);
+		void _analogRead(uint8_t codename);
+		void _digitalRead(uint8_t codename);
+		void _readIR();
+		void _readTrim();
+		
+		void _refreshMotorAdjustment();
+		
+		Multiplexer IRs;
+		uint8_t mode;
+		uint8_t isPaused;
+		EasyTransfer2 messageIn;
+		EasyTransfer2 messageOut;
+		
+		//Line Following 
+		void reportActionDone();
+};
+
+extern RobotMotorBoard RobotMotor;
+
+#endif
\ No newline at end of file