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#include "ArduinoRobot.h"
#include "EasyTransfer2.h"
void RobotControl::motorsStop(){
messageOut.writeByte(COMMAND_MOTORS_STOP);
messageOut.sendData();
}
void RobotControl::motorsWrite(int speedLeft,int speedRight){
messageOut.writeByte(COMMAND_RUN);
messageOut.writeInt(speedLeft);
messageOut.writeInt(speedRight);
messageOut.sendData();
}
void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){
int16_t speedLeft=255*speedLeftPct;
int16_t speedRight=255*speedRightPct;
motorsWrite(speedLeft,speedRight);
}
void RobotControl::pointTo(int angle){
int target=angle;
uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
if(direction>0){
motorsWrite(speed,-speed);//right
delay(10);
}else{
motorsWrite(-speed,speed);//left
delay(10);
}
int currentAngle=compassRead();
int diff=target-currentAngle;
if(diff<-180)
diff += 360;
else if(diff> 180)
diff -= 360;
direction=-diff;
if(abs(diff)<5){
motorsWrite(0,0);
return;
}
}
}
void RobotControl::turn(int angle){
int originalAngle=compassRead();
int target=originalAngle+angle;
pointTo(target);
/*uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
if(direction>0){
motorsWrite(speed,speed);//right
delay(10);
}else{
motorsWrite(-speed,-speed);//left
delay(10);
}
int currentAngle=compassRead();
int diff=target-currentAngle;
if(diff<-180)
diff += 360;
else if(diff> 180)
diff -= 360;
direction=-diff;
if(abs(diff)<5){
motorsWrite(0,0);
return;
}
}*/
}
void RobotControl::moveForward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::moveBackward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::turnLeft(int speed){
motorsWrite(speed,255);
}
void RobotControl::turnRight(int speed){
motorsWrite(255,speed);
}
/*
int RobotControl::getIRrecvResult(){
messageOut.writeByte(COMMAND_GET_IRRECV);
messageOut.sendData();
//delay(10);
while(!messageIn.receiveData());
if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){
return messageIn.readInt();
}
return -1;
}
*/
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