compAIR/libcreate
compAIR/libcreate
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Add support for early model Roomba 400s and other robots using the original SCI protocol.

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This commit is contained in:
Ben Wolsieffer 2016-07-13 21:50:32 -04:00
parent c68a308c71
commit 618956e14c
18 changed files with 675 additions and 307 deletions
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50
include/create/types.h
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@ -33,11 +33,46 @@ POSSIBILITY OF SUCH DAMAGE.
#define CREATE_TYPES_H
#include <vector>
#include <stdint.h>
#include <string>
#include <stdexcept>
namespace create {
enum RobotModel {
CREATE_1 = 0, // Roomba 400 series
CREATE_2 // Roomba 600 series
enum ProtocolVersion {
V_1 = 1,
V_2 = 2,
V_3 = 4,
V_ALL = 0xFFFFFFFF
};
class RobotModel {
public:
bool operator==(RobotModel& other) const;
operator uint32_t() const;
uint32_t getId() const;
ProtocolVersion getVersion() const;
float getAxleLength() const;
unsigned int getBaud() const;
float getMaxVelocity() const;
float getWheelDiameter() const;
static RobotModel ROOMBA_400; // Roomba 400 series
static RobotModel CREATE_1; // Roomba 500 series
static RobotModel CREATE_2; // Roomba 600 series
private:
uint32_t id;
ProtocolVersion version;
float axleLength;
unsigned int baud;
float maxVelocity;
float wheelDiameter;
RobotModel(const ProtocolVersion version, const float axleLength, const unsigned int baud, const float maxVelocity = 0.5, const float wheelDiameter = 0.078);
static uint32_t nextId;
};
enum SensorPacketID {
@ -60,8 +95,8 @@ namespace create {
ID_CLIFF_RIGHT = 12,
ID_VIRTUAL_WALL = 13,
ID_OVERCURRENTS = 14,
ID_DIRT_DETECT = 15,
ID_UNUSED_1 = 16,
ID_DIRT_DETECT_LEFT = 15,
ID_DIRT_DETECT_RIGHT = 16,
ID_IR_OMNI = 17,
ID_IR_LEFT = 52,
ID_IR_RIGHT = 53,
@ -79,8 +114,8 @@ namespace create {
ID_CLIFF_FRONT_LEFT_SIGNAL = 29,
ID_CLIFF_FRONT_RIGHT_SIGNAL = 30,
ID_CLIFF_RIGHT_SIGNAL = 31,
ID_UNUSED_2 = 32,
ID_UNUSED_3 = 33,
ID_CARGO_BAY_DIGITAL_INPUTS = 32,
ID_CARGO_BAY_ANALOG_SIGNAL = 33,
ID_CHARGE_SOURCE = 34,
ID_OI_MODE = 35,
ID_SONG_NUM = 36,
@ -112,6 +147,7 @@ namespace create {
OC_RESET = 7,
OC_STOP = 173,
OC_BAUD = 129,
OC_CONTROL = 130,
OC_SAFE = 131,
OC_FULL = 132,
OC_CLEAN = 135,