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

src/types.cpp

@@ -0,0 +1,52 @@
+#include "create/types.h"
+
+namespace create {
+
+  RobotModel::RobotModel(const ProtocolVersion version, const float axleLength, const unsigned int baud, const float maxVelocity, const float wheelDiameter):
+    id(nextId),
+    version(version),
+    axleLength(axleLength),
+    baud(baud),
+    maxVelocity(maxVelocity),
+    wheelDiameter(wheelDiameter) {
+    nextId <<= 1;
+  }
+
+  bool RobotModel::operator ==(RobotModel& other) const {
+    return id == other.id;
+  }
+
+  RobotModel::operator uint32_t() const {
+    return id;
+  }
+
+  uint32_t RobotModel::getId() const {
+    return id;
+  }
+
+  ProtocolVersion RobotModel::getVersion() const {
+    return version;
+  }
+
+  float RobotModel::getAxleLength() const {
+    return axleLength;
+  }
+
+  unsigned int RobotModel::getBaud() const {
+    return baud;
+  }
+
+  float RobotModel::getMaxVelocity() const {
+    return maxVelocity;
+  }
+
+  float RobotModel::getWheelDiameter() const {
+    return wheelDiameter;
+  }
+
+  uint32_t RobotModel::nextId = 1;
+
+  RobotModel RobotModel::ROOMBA_400(V_1, 0.258, 57600);
+  RobotModel RobotModel::CREATE_1(V_2, 0.258, 57600);
+  RobotModel RobotModel::CREATE_2(V_3, 0.235, 115200);
+}