* Rename 'isIRDetect*' functions to 'isLightBumper*'
* Documentation / code cleanup * Add function 'driveRadius' * Add function 'isVirtualWall'
This commit is contained in:
jacobperron
parent
cdc6927e76
commit
75dd293bfd
5 changed files with 157 additions and 84 deletions
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@ -90,8 +90,12 @@ namespace create {
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Create(RobotModel = CREATE_2);
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/* Attempts to establish serial connection to Create.
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* \param port of your computer that is connected to Create.
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* \param baud rate to communicate with Create. Typically,
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* 115200 for Create 2 and 57600 for Create 1.
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* \param model type of robot.
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*/
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Create(const std::string& port, const int& baud, RobotModel = CREATE_2);
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Create(const std::string& port, const int& baud, RobotModel model = CREATE_2);
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~Create();
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@ -107,26 +111,21 @@ namespace create {
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*/
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void disconnect();
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/* Resets as if you have removed the battery.
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* Changes mode to MODE_PASSIVE.
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*/
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// TODO
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//void reset();
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// TODO
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//void setBaud(int baudcode);
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/* Change Create mode.
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* \param mode to put Create in.
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* \return true if successful, false otherwise
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*/
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bool setMode(const create::CreateMode& mode);
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/* Starts a cleaning mode.
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* Changes mode to MODE_PASSIVE.
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* \return true if successful, false otherwise
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*/
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bool clean(const create::CleanMode& mode = CLEAN_DEFAULT);
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/* Starts the docking behaviour.
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* Changes mode to MODE_PASSIVE.
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* \return true if successful, false otherwise
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*/
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bool dock() const;
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@ -134,42 +133,49 @@ namespace create {
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* \param day in range [0, 6]
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* \param hour in range [0, 23]
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* \param min in range [0, 59]
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* \return true if successful, false otherwise
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*/
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bool setDate(const create::DayOfWeek& day, const uint8_t& hour, const uint8_t& min) const;
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/* Set the average wheel velocity and turning radius of Create.
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* \param vel is in m/s
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* \param velocity is in m/s bounded between [-0.5, 0.5]
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* \param radius in meters.
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* Special cases: drive straight = CREATE_2_STRAIGHT_RADIUS,
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* turn in place counter-clockwise = CREATE_2_IN_PLACE_RADIUS,
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* turn in place clockwise = -CREATE_2_IN_PLACE_RADIUS
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* \return true if successful, false otherwise
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*/
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//void driveRadius(const float& vel, const float& radius) const;
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bool driveRadius(const float& velocity, const float& radius) const;
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/* Set the velocities for the left and right wheels (m/s).
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/* Set the velocities for the left and right wheels.
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* \param leftWheel velocity in m/s.
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* \param rightWheel veloctiy in m/s.
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* \return true if successful, false otherwise
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*/
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bool driveWheels(const float& leftWheel, const float& rightWheel) const;
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/* Set the PWM for each wheel.
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*/
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// TODO
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//void drivePWM(const int16_t& leftWheel, const int16_t& rightWheel) const;
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/* Set the forward and angular velocity of Create.
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* \param xVel in m/s
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* \param angularVel in rads/s
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* \return true if successful, false otherwise
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*/
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bool drive(const float& xVel, const float& angularVel) const;
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/* Set the power to the side brush motor.
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* \param power is in the range [-1, 1]
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* \return true if successful, false otherwise
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*/
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bool setSideMotor(const float& power);
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/* Set the power to the main brush motor.
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* \param power is in the range [-1, 1]
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* \return true if successful, false otherwise
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*/
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bool setMainMotor(const float& power);
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/* Set the power to the vacuum motor.
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* \param power is in the range [0, 1]
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* \return true if successful, false otherwise
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*/
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bool setVacuumMotor(const float& power);
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@ -177,49 +183,65 @@ namespace create {
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* \param mainPower in the range [-1, 1]
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* \param sidePower in the range [-1, 1]
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* \param vacuumPower in the range [0, 1]
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* \return true if successful, false otherwise
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*/
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bool setAllMotors(const float& mainPower, const float& sidePower, const float& vacuumPower);
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/* Set the blue "debris" LED on/off.
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* \param enable
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* \return true if successful, false otherwise
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*/
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bool enableDebrisLED(const bool& enable);
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/* Set the green "spot" LED on/off.
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* \param enable
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* \return true if successful, false otherwise
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*/
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bool enableSpotLED(const bool& enable);
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/* Set the green "dock" LED on/off.
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* \param enable
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* \return true if successful, false otherwise
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*/
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bool enableDockLED(const bool& enable);
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/* Set the orange "check Create" LED on/off.
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* \param enable
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* \return true if successful, false otherwise
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*/
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bool enableCheckRobotLED(const bool& enable);
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/* Set the center power LED.
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* \param power in range [0, 255] where 0 = green and 255 = red
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* \param intensity in range [0, 255]
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* \return true if successful, false otherwise
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*/
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bool setPowerLED(const uint8_t& power, const uint8_t& intensity = 255);
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// TODO
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//void setScheduleLED(...);
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/* Set the four 7-segment display digits from left to right.
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* \param segments to enable (true) or disable (false).
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* The size of segments should be less than 29.
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* The ordering of segments is left to right, top to bottom for each digit:
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*
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* 0 7 14 21
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* |‾‾‾| |‾‾‾| |‾‾‾| |‾‾‾|
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* 1 |___| 2 8 |___| 9 15 |___| 16 22 |___| 23
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* | 3 | | 10| | 17| | 24|
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* 4 |___| 5 11|___| 12 18 |___| 19 25 |___| 26
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* 6 13 20 27
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*
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* \return true if successful, false otherwise
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*/
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// TODO
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//void setDigits(uint8_t digit1, uint8_t digit2,
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// uint8_t digit3, uint8_t digit4);
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// TODO
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// pushButton(...);
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//TODO (https://github.com/AutonomyLab/libcreate/issues/7)
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//bool setDigits(const std::vector<bool>& segments) const;
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/* Set the four 7-segment display digits from left to right with ASCII codes.
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* Any code out side the accepted ascii ranges results in blank display.
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* \param digit1 is left most digit with ascii range [32, 126]
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* \param digit2 is second to left digit with ascii range [32, 126]
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* \param digit3 is second to right digit with ascii range [32, 126]
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* \param digit4 is right most digit with ascii range [32, 126]
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* \param digit1 is left most digit with ascii range [32, 126]
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* \param digit2 is second to left digit with ascii range [32, 126]
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* \param digit3 is second to right digit with ascii range [32, 126]
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* \param digit4 is right most digit with ascii range [32, 126]
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* \return true if successful, false otherwise
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*/
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bool setDigitsASCII(const uint8_t& digit1, const uint8_t& digit2,
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const uint8_t& digit3, const uint8_t& digit4) const;
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@ -231,6 +253,7 @@ namespace create {
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* \param notes is a sequence of notes. Each note is in the range [31, 127].
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* Anything outside this range is considered a rest note.
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* \param durations for each note in fractions of a second from the range [0, 4)
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* \return true if successful, false otherwise
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*/
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bool defineSong(const uint8_t& songNumber,
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const uint8_t& songLength,
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@ -239,12 +262,11 @@ namespace create {
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/* Play a previously created song.
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* This command will not work if a song was not already defined with the specified song number.
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* \param songNumber is one of four stored songs in the range [0, 4]
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* \return true if successful, false otherwise
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*/
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bool playSong(const uint8_t& songNumber) const;
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// TODO
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//void registerCallback(...);
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/* True if a left or right wheeldrop is detected.
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*/
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bool isWheeldrop() const;
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@ -265,12 +287,19 @@ namespace create {
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*/
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bool isCliff() const;
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//TODO
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//bool isVirtualWall() const;
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/* True if there is a virtual wall signal is being received.
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*/
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bool isVirtualWall() const;
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//TODO
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//TODO (https://github.com/AutonomyLab/libcreate/issues/8)
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//bool isWheelOvercurrent() const;
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//TODO (https://github.com/AutonomyLab/libcreate/issues/8)
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//bool isMainBrushOvercurrent() const;
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//TODO (https://github.com/AutonomyLab/libcreate/issues/8)
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//bool isSideBrushOvercurrent() const;
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/* Get level of the dirt detect sensor.
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* \return value in range [0, 255]
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*/
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@ -292,13 +321,36 @@ namespace create {
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*/
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uint8_t getIRRight() const;
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/* Get state of 'clean' button ('play' button on Create 1).
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*/
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bool isCleanButtonPressed() const;
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/* Not supported by any firmware!
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*/
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bool isClockButtonPressed() const;
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/* Not supported by any firmware!
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*/
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bool isScheduleButtonPressed() const;
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/* Get state of 'day' button.
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*/
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bool isDayButtonPressed() const;
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/* Get state of 'hour' button.
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*/
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bool isHourButtonPressed() const;
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/* Get state of 'min' button.
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*/
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bool isMinButtonPressed() const;
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/* Get state of 'dock' button ('advance' button on Create 1).
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*/
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bool isDockButtonPressed() const;
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/* Get state of 'spot' button.
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*/
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bool isSpotButtonPressed() const;
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/* Get battery voltage.
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@ -307,7 +359,7 @@ namespace create {
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uint16_t getVoltage() const;
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/* Get current flowing in/out of battery.
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* A positive current implies Create is charging.
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* A positive current implies Create is charging.
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* \return value in milliamps
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*/
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int16_t getCurrent() const;
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@ -327,21 +379,39 @@ namespace create {
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*/
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uint16_t getBatteryCapacity() const;
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bool isIRDetectLeft() const;
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bool isIRDetectFrontLeft() const;
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bool isIRDetectCenterLeft() const;
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bool isIRDetectRight() const;
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bool isIRDetectFrontRight() const;
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bool isIRDetectCenterRight() const;
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/* Return true if farthest left light sensor detects an obstacle, false otherwise.
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*/
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bool isLightBumperLeft() const;
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uint16_t getDistLeft() const;
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uint16_t getDistFrontLeft() const;
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uint16_t getDistCenterLeft() const;
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uint16_t getDistRight() const;
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uint16_t getDistFrontRight() const;
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uint16_t getDistCenterRight() const;
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/* Return true if front left light sensor detects an obstacle, false otherwise.
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*/
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bool isLightBumperFrontLeft() const;
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/* Return true if Create is moving forward.
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/* Return true if center left light sensor detects an obstacle, false otherwise.
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*/
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bool isLightBumperCenterLeft() const;
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/* Return true if farthest right light sensor detects an obstacle, false otherwise.
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*/
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bool isLightBumperRight() const;
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/* Return true if front right light sensor detects an obstacle, false otherwise.
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*/
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bool isLightBumperFrontRight() const;
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/* Return true if center right light sensor detects an obstacle, false otherwise.
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*/
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bool isLightBumperCenterRight() const;
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//TODO (https://github.com/AutonomyLab/libcreate/issues/3)
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//uint16_t getDistLeft() const;
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//uint16_t getDistFrontLeft() const;
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//uint16_t getDistCenterLeft() const;
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//uint16_t getDistRight() const;
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//uint16_t getDistFrontRight() const;
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//uint16_t getDistCenterRight() const;
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/* Return true if Create is moving forward, false otherwise.
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*/
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bool isMovingForward() const;
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@ -353,7 +423,7 @@ namespace create {
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*/
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create::CreateMode getMode() const;
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/* Get the estimated position of Create based on it's wheel encoders.
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/* Get the estimated position of Create based on wheel encoders.
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*/
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const create::Pose& getPose() const;
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@ -46,6 +46,9 @@ namespace create {
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static const uint32_t CREATE_2_MAX_ENCODER_TICKS = 65535;
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static const float CREATE_2_WHEEL_DIAMETER = 0.078;
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static const float CREATE_2_MAX_VEL = 0.5;
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static const float CREATE_2_MAX_RADIUS = 2.0;
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static const float CREATE_2_STRAIGHT_RADIUS = 32.768;
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static const float CREATE_2_IN_PLACE_RADUIS = 0.001;
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static const float PI = 3.14159;
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static const float TWO_PI = 6.28318;
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static const float EPS = 0.0001;
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