diff options
Diffstat (limited to 'libraries/Robot_Control/communication.cpp')
| -rw-r--r-- | libraries/Robot_Control/communication.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/libraries/Robot_Control/communication.cpp b/libraries/Robot_Control/communication.cpp new file mode 100644 index 0000000..eaf5346 --- /dev/null +++ b/libraries/Robot_Control/communication.cpp @@ -0,0 +1 @@ +#include <ArduinoRobot.h>
bool RobotControl::isActionDone(){
if(messageIn.receiveData()){
if(messageIn.readByte()==COMMAND_ACTION_DONE){
return true;
}
}
return false;
}
void RobotControl::pauseMode(uint8_t onOff){
messageOut.writeByte(COMMAND_PAUSE_MODE);
if(onOff){
messageOut.writeByte(true);
}else{
messageOut.writeByte(false);
}
messageOut.sendData();
}
void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
messageOut.writeByte(KP);
messageOut.writeByte(KD);
messageOut.writeByte(robotSpeed);
messageOut.writeByte(intergrationTime);
messageOut.sendData();
}
\ No newline at end of file |