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Diffstat (limited to 'libraries/Robot_Control/ArduinoRobot.h')
| -rw-r--r-- | libraries/Robot_Control/ArduinoRobot.h | 360 |
1 files changed, 0 insertions, 360 deletions
diff --git a/libraries/Robot_Control/ArduinoRobot.h b/libraries/Robot_Control/ArduinoRobot.h deleted file mode 100644 index becdca8..0000000 --- a/libraries/Robot_Control/ArduinoRobot.h +++ /dev/null @@ -1,360 +0,0 @@ -#ifndef ArduinoRobot_h -#define ArduinoRobot_h - -#include "Arduino_LCD.h" // Hardware-specific library -//#include "FormattedText.h" -#include "SquawkSD.h" -#include "Multiplexer.h" -#include "EasyTransfer2.h" -#include "EEPROM_I2C.h" -#include "Compass.h" -#include "Fat16.h" - -#if ARDUINO >= 100 -#include "Arduino.h" -#else -#include "WProgram.h" -#endif - - -#define BUTTON_NONE -1 -#define BUTTON_LEFT 0 -#define BUTTON_DOWN 1 -#define BUTTON_UP 2 -#define BUTTON_RIGHT 3 -#define BUTTON_MIDDLE 4 -#define NUMBER_BUTTONS 5 - -//beep length -#define BEEP_SIMPLE 0 -#define BEEP_DOUBLE 1 -#define BEEP_LONG 2 - -// image locations on the EEPROM - #define HOME_BMP 0 -#define BATTERY_BMP 2048 -#define COMPASS_BMP 4096 -#define CONTROL_BMP 6144 -#define GEARS_BMP 8192 -#define LIGHT_BMP 10240 -#define OSCILLO_BMP 12288 -#define VOLT_BMP 14336 -#define INICIO_BMP 16384 // this is a full screen splash - -//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 - -//port types, for R/W -#define TYPE_TOP_TK 0 -#define TYPE_TOP_TKD 1 -#define TYPE_BOTTOM_TK 2 - -//top TKs -#define TK0 100 -#define TK1 101 -#define TK2 102 -#define TK3 103 -#define TK4 104 -#define TK5 105 -#define TK6 106 -#define TK7 107 - -//bottom TKs, just for communication purpose -#define B_TK1 201 -#define B_TK2 202 -#define B_TK3 203 -#define B_TK4 204 - -//bottom IRs, for communication purpose -#define B_IR0 210 -#define B_IR1 211 -#define B_IR2 212 -#define B_IR3 213 -#define B_IR4 214 - -#ifndef LED1 -#define LED1 17 -#endif - -//320 - 337 username, -#define ADDRESS_USERNAME 320 -//338 - 355 robotname, -#define ADDRESS_ROBOTNAME 338 -//356 - 373 cityname, -#define ADDRESS_CITYNAME 356 - //374- 391 countryname, -#define ADDRESS_COUNTRYNAME 374 -//508-511 robot info -#define ADDRESS_ROBOTINFO 508 - -#define BLACK ILI9163C_BLACK -#define BLUE ILI9163C_BLUE -#define RED ILI9163C_RED -#define GREEN ILI9163C_GREEN -#define CYAN ILI9163C_CYAN -#define MAGENTA ILI9163C_MAGENTA -#define YELLOW ILI9163C_YELLOW -#define WHITE ILI9163C_WHITE - -//A data structure for storing the current state of motor board -struct MOTOR_BOARD_DATA{ - int _B_TK1; - int _B_TK2; - int _B_TK3; - int _B_TK4; - - /*int _B_IR0; - int _B_IR1; - int _B_IR2; - int _B_IR3; - int _B_IR4;*/ -}; - -/* -A message structure will be: -switch mode: - byte COMMAND_SWITCH_MODE, byte mode -run: - byte COMMAND_RUN, int speedL, int speedR -analogWrite: - byte COMMAND_ANALOG_WRITE, byte codename, byte value; -digitalWrite: - byte COMMAND_DIGITAL_WRITE, byte codename, byte value; -analogRead: - byte COMMAND_ANALOG_READ, byte codename; -analogRead return: - byte COMMAND_ANALOG_READ_RE, byte codename, int value; -digitalRead return: - byte COMMAND_DIGITAL_READ_RE, byte codename, byte value; -read IR: - byte COMMAND_READ_IR, int valueA, int valueB, int valueC, int valueD; - - -*/ -#define NUM_EEPROM_BMP 10 -struct EEPROM_BMP{ - char name[8]; - uint8_t width; - uint8_t height; - uint16_t address; -}; - -//if you call #undef USE_SQUAWK_SYNTH_SD at the beginning of your sketch, -//it's going to remove anything regarding sound playing - -class RobotControl:public Multiplexer, -public EEPROM_I2C, -public Compass, -public SquawkSynthSD, -//public FormattedText -public Arduino_LCD -{ - public: - RobotControl(); - void begin(); - void setMode(uint8_t mode); - - //Read & Write, TK0 - TK7, TKD0 - TKD1, bottom TK0 - TK4 - bool digitalRead(uint8_t port); - int analogRead(uint8_t port); - void digitalWrite(uint8_t port, bool value); - void analogWrite(uint8_t port, uint8_t value);//It's not available, as there's no pin can be used for analog write - - //IR sensors from the bottom board - //define an array as "int arr[4];", and supply the arry name here - uint16_t IRarray[5]; - void updateIR(); - - //on board Potentiometor - int knobRead(); - //Potentiometor of the motor board - int trimRead(); - - //on board piezo - void beginSpeaker(uint16_t frequency=44100); - void playMelody(char* script); - void playFile(char* filename); - void stopPlayFile(); - void beep(int beep_length=BEEP_SIMPLE); - void tempoWrite(int tempo); - void tuneWrite(float tune); - - //compass - uint16_t compassRead(); - void drawCompass(uint16_t value); - void drawBase(); - void drawDire(int16_t dire); - - //keyboard - void keyboardCalibrate(int *vals); - int8_t keyboardRead();//return the key that is being pressed?Has been pressed(with _processKeyboard)? - - //movement - void moveForward(int speed); - void moveBackward(int speed); - void turnLeft(int speed); - void turnRight(int speed); - void motorsStop(); - void motorsWritePct(int speedLeftPct, int speedRightPct); - - void motorsWrite(int speedLeft,int speedRight); - void pointTo(int degrees);//turn to an absolute angle from the compass - void turn(int degress);//turn certain degrees from the current heading - - //Line Following - void lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);//default 11 5 50 10 - - //TFT LCD - //use the same commands as Arduino_LCD - void beginTFT(uint16_t foreGround=BLACK, uint16_t background=WHITE); - /*void text(int value, uint8_t posX, uint8_t posY, bool EW); - void text(long value, uint8_t posX, uint8_t posY, bool EW); - void text(char* value, uint8_t posX, uint8_t posY, bool EW); - void text(char value, uint8_t posX, uint8_t posY, bool EW);*/ - void debugPrint(long value, uint8_t x=0, uint8_t y=0); - void clearScreen(); - - void drawBMP(char* filename, uint8_t x, uint8_t y);//detect if draw with EEPROM or SD, and draw it - void _drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height);//draw from EEPROM - void _drawBMP(char* filename, uint8_t x, uint8_t y);//draw from SD - void beginBMPFromEEPROM(); - void endBMPFromEEPROM(); - - uint16_t foreGround;//foreground color - uint16_t backGround;//background color - - - //SD card - void beginSD(); - - //Information - void userNameRead(char* container); - void robotNameRead(char* container); - void cityNameRead(char* container); - void countryNameRead(char* container); - - void userNameWrite(char* text); - void robotNameWrite(char* text); - void cityNameWrite(char* text); - void countryNameWrite(char* text); - - //Others - bool isActionDone(); - void pauseMode(uint8_t onOff); - void displayLogos(); - void waitContinue(uint8_t key=BUTTON_MIDDLE); - - private: - //Read & Write - uint8_t _getTypeCode(uint8_t port);//different ports need different actions - uint8_t _portToTopMux(uint8_t port);//get the number for multiplexer within top TKs - uint8_t _topDPortToAPort(uint8_t port);//get the corrensponding analogIn pin for top TKDs - - bool _digitalReadTopMux(uint8_t port);//TK0 - TK7 - int _analogReadTopMux(uint8_t port); - - bool _digitalReadTopPin(uint8_t port); - int _analogReadTopPin(uint8_t port); - void _digitalWriteTopPin(uint8_t port, bool value); - - MOTOR_BOARD_DATA motorBoardData; - int* parseMBDPort(uint8_t port); - int get_motorBoardData(uint8_t port); - void set_motorBoardData(uint8_t port, int value); - - bool _requestDigitalRead(uint8_t port); - int _requestAnalogRead(uint8_t port); - void _requestDigitalWrite(uint8_t port, uint8_t value); - - //LCD - void _enableLCD(); - void _setWrite(uint8_t posX, uint8_t posY); - void _setErase(uint8_t posX, uint8_t posY); - - - //SD - SdCard card; - Fat16 file; - Fat16 melody; - void _enableSD(); - - //keyboard - void _processKeyboard(); //need to run in loop, detect if the key is actually pressed - int averageAnalogInput(int pinNum); - - //Ultrasonic ranger - //uint8_t pinTrigger_UR; - //uint8_t pinEcho_UR; - - //Melody - void playNote(byte period, word length, char modifier); - - //Communication - - EasyTransfer2 messageOut; - EasyTransfer2 messageIn; - - //TFT LCD - bool _isEEPROM_BMP_Allocated; - EEPROM_BMP * _eeprom_bmp; - void _drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height); - void _drawBMP_SD(char* filename, uint8_t x, uint8_t y); - - -}; - -inline void RobotControl::userNameRead(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18); -} -inline void RobotControl::robotNameRead(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18); -} -inline void RobotControl::cityNameRead(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18); -} -inline void RobotControl::countryNameRead(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18); -} - -inline void RobotControl::userNameWrite(char* text){ - EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18); -} -inline void RobotControl::robotNameWrite(char* text){ - EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18); -} -inline void RobotControl::cityNameWrite(char* text){ - EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18); -} -inline void RobotControl::countryNameWrite(char* text){ - EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18); -} - -extern RobotControl Robot; - -#endif
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