compAIR/libcreate
compAIR/libcreate
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* Rename 'isIRDetect*' functions to 'isLightBumper*'

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* Documentation / code cleanup
* Add function 'driveRadius'
* Add function 'isVirtualWall'
This commit is contained in:
jacobperron 2016-03-28 19:17:35 -07:00
parent cdc6927e76
commit 75dd293bfd
5 changed files with 157 additions and 84 deletions
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50
src/create.cpp
View file

@ -188,16 +188,16 @@ namespace create {
return serial->send(cmd, 4);
}
/*void Create::driveRadius(const float& vel, const float& radius) const {
bool Create::driveRadius(const float& vel, const float& radius) const {
// Expects each parameter as two bytes each and in millimeters
int16_t vel_mm = roundf(vel * 1000);
int16_t radius_mm = roundf(radius * 1000);
BOUND(vel_mm, -500, 500);
BOUND(vel_mm, -util::CREATE_2_MAX_VEL * 1000, util::CREATE_2_MAX_VEL * 1000);
// Consider special cases for radius
// Bound radius if not a special case
if (radius_mm != 32768 && radius_mm != 32767 &&
radius_mm != -1 && radius_mm != 1) {
BOUND(radius_mm, -2000, 2000);
BOUND(radius_mm, -util::CREATE_2_MAX_RADIUS, util::CREATE_2_MAX_RADIUS);
}
uint8_t cmd[5] = { OC_DRIVE,
@ -207,9 +207,8 @@ namespace create {
radius_mm & 0xff
};
serial->send(cmd, 5);
return serial->send(cmd, 5);
}
*/
bool Create::driveWheels(const float& leftVel, const float& rightVel) const {
int16_t leftCmd = roundf(leftVel * 1000);
@ -226,17 +225,6 @@ namespace create {
return serial->send(cmd, 5);
}
/*void Create::drivePWM(const int16_t& leftPWM, const int16_t& rightPWM) const {
uint8_t cmd[5] = { OC_DRIVE_PWM,
rightPWM >> 8,
rightPWM & 0xff,
leftPWM >> 8,
leftPWM & 0xff
};
serial->send(cmd, 5);
}
*/
bool Create::drive(const float& xVel, const float& angularVel) const {
// Compute left and right wheel velocities
float leftVel = xVel - ((util::CREATE_2_AXLE_LENGTH / 2.0) * angularVel);
@ -432,6 +420,16 @@ namespace create {
}
}
bool Create::isVirtualWall() const {
if (data->isValidPacketID(ID_VIRTUAL_WALL)) {
return GET_DATA(ID_VIRTUAL_WALL);
}
else {
CERR("[create::Create] ", "Virtual Wall sensor not supported!");
return false;
}
}
uint8_t Create::getDirtDetect() const {
if (data->isValidPacketID(ID_DIRT_DETECT)) {
return GET_DATA(ID_DIRT_DETECT);
@ -495,8 +493,9 @@ namespace create {
}
}
// Not working
// Not supported by any 600 series firmware
bool Create::isClockButtonPressed() const {
CERR("[create::Create] ", "Clock button is not supported!");
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x80) != 0;
}
@ -506,8 +505,9 @@ namespace create {
}
}
// Not working
// Not supported by any 600 series firmware
bool Create::isScheduleButtonPressed() const {
CERR("[create::Create] ", "Schedule button is not supported!");
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x40) != 0;
}
@ -617,7 +617,7 @@ namespace create {
}
}
bool Create::isIRDetectLeft() const {
bool Create::isLightBumperLeft() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x01) != 0;
}
@ -627,7 +627,7 @@ namespace create {
}
}
bool Create::isIRDetectFrontLeft() const {
bool Create::isLightBumperFrontLeft() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x02) != 0;
}
@ -637,7 +637,7 @@ namespace create {
}
}
bool Create::isIRDetectCenterLeft() const {
bool Create::isLightBumperCenterLeft() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x04) != 0;
}
@ -647,7 +647,7 @@ namespace create {
}
}
bool Create::isIRDetectCenterRight() const {
bool Create::isLightBumperCenterRight() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x08) != 0;
}
@ -657,7 +657,7 @@ namespace create {
}
}
bool Create::isIRDetectFrontRight() const {
bool Create::isLightBumperFrontRight() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x10) != 0;
}
@ -667,7 +667,7 @@ namespace create {
}
}
bool Create::isIRDetectRight() const {
bool Create::isLightBumperRight() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x20) != 0;
}

2
src/data.cpp
View file

@ -24,13 +24,13 @@ namespace create {
ADD_PACKET(ID_TEMP, 1, "temperature");
ADD_PACKET(ID_CHARGE , 2, "battery_charge");
ADD_PACKET(ID_CAPACITY, 2, "battery_capacity");
ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
if (model == CREATE_1) {
ADD_PACKET(ID_DISTANCE, 2, "distance");
ADD_PACKET(ID_ANGLE, 2, "angle");
}
else if (model == CREATE_2) {
//ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
//ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
ADD_PACKET(ID_DIRT_DETECT, 1, "dirt_detect");
//ADD_PACKET(ID_UNUSED_1, 1, "unused 1");