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Jacob Perron 2016-11-13 01:15:07 -08:00
parent 9c93971d7d
commit 78f0af78d1
2 changed files with 216 additions and 89 deletions
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279
include/create/create.h
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@ -97,52 +97,74 @@ namespace create {
boost::shared_ptr<create::Serial> serial;
public:
/* Default constructor.
* Does not attempt to establish serial connection to Create.
*/
Create(RobotModel = RobotModel::CREATE_2);
/**
* \brief Default constructor.
*
* Calling this constructor Does not attempt to establish a serial connection to the robot.
*
* \param model the type of the robot. See RobotModel to determine the value for your robot.
*/
Create(RobotModel model = RobotModel::CREATE_2);
/* Attempts to establish serial connection to Create.
/**
* \brief Attempts to establish serial connection to Create.
*
* \param port of your computer that is connected to Create.
* \param baud rate to communicate with Create. Typically,
* 115200 for Create 2 and 57600 for Create 1.
* \param model type of robot.
* \param model type of robot. See RobotModel to determine the value for your robot.
*/
Create(const std::string& port, const int& baud, RobotModel model = RobotModel::CREATE_2);
/**
* \brief Attempts to disconnect from serial.
*/
~Create();
/* Make a serial connection to Create.
/**
* \brief Make a serial connection to Create.
*
* This is the first thing that should be done after instantiated this class.
*
* \return true if a successful connection is established, false otherwise.
*/
bool connect(const std::string& port, const int& baud);
/**
* \brief Check if serial connection is active.
*
* \return true if successfully connected, false otherwise.
*/
inline bool connected() const { return serial->connected(); };
/* Disconnect from serial.
/**
* \brief Disconnect from serial.
*/
void disconnect();
/* Change Create mode.
* \param mode to put Create in.
/**
* \brief Change Create mode.
* \param mode to change Create to.
* \return true if successful, false otherwise
*/
bool setMode(const create::CreateMode& mode);
/* Starts a cleaning mode.
/**
* \brief Starts a cleaning mode.
* Changes mode to MODE_PASSIVE.
* \return true if successful, false otherwise
*/
bool clean(const create::CleanMode& mode = CLEAN_DEFAULT);
/* Starts the docking behaviour.
/**
* \brief Starts the docking behaviour.
* Changes mode to MODE_PASSIVE.
* \return true if successful, false otherwise
*/
bool dock() const;
/* Sets the internal clock of Create.
/**
* \brief Sets the internal clock of Create.
* \param day in range [0, 6]
* \param hour in range [0, 23]
* \param min in range [0, 59]
@ -150,7 +172,8 @@ namespace create {
*/
bool setDate(const create::DayOfWeek& day, const uint8_t& hour, const uint8_t& min) const;
/* Set the average wheel velocity and turning radius of Create.
/**
* \brief Set the average wheel velocity and turning radius of Create.
* \param velocity is in m/s bounded between [-0.5, 0.5]
* \param radius in meters.
* Special cases: drive straight = CREATE_2_STRAIGHT_RADIUS,
@ -160,39 +183,45 @@ namespace create {
*/
bool driveRadius(const float& velocity, const float& radius);
/* Set the velocities for the left and right wheels.
/**
* \brief Set the velocities for the left and right wheels.
* \param leftWheel velocity in m/s.
* \param rightWheel veloctiy in m/s.
* \return true if successful, false otherwise
*/
bool driveWheels(const float& leftWheel, const float& rightWheel);
/* Set the forward and angular velocity of Create.
/**
* \brief Set the forward and angular velocity of Create.
* \param xVel in m/s
* \param angularVel in rads/s
* \return true if successful, false otherwise
*/
bool drive(const float& xVel, const float& angularVel);
/* Set the power to the side brush motor.
/**
* \brief Set the power to the side brush motor.
* \param power is in the range [-1, 1]
* \return true if successful, false otherwise
*/
bool setSideMotor(const float& power);
/* Set the power to the main brush motor.
/**
* \brief Set the power to the main brush motor.
* \param power is in the range [-1, 1]
* \return true if successful, false otherwise
*/
bool setMainMotor(const float& power);
/* Set the power to the vacuum motor.
/**
* \brief Set the power to the vacuum motor.
* \param power is in the range [0, 1]
* \return true if successful, false otherwise
*/
bool setVacuumMotor(const float& power);
/* Set the power of all motors.
/**
* \brief Set the power of all motors.
* \param mainPower in the range [-1, 1]
* \param sidePower in the range [-1, 1]
* \param vacuumPower in the range [0, 1]
@ -200,38 +229,46 @@ namespace create {
*/
bool setAllMotors(const float& mainPower, const float& sidePower, const float& vacuumPower);
/* Set the blue "debris" LED on/off.
/**
* \brief Set the blue "debris" LED on/off.
* \param enable
* \return true if successful, false otherwise
*/
bool enableDebrisLED(const bool& enable);
/* Set the green "spot" LED on/off.
/**
* \brief Set the green "spot" LED on/off.
* \param enable
* \return true if successful, false otherwise
*/
bool enableSpotLED(const bool& enable);
/* Set the green "dock" LED on/off.
/**
* \brief Set the green "dock" LED on/off.
* \param enable
* \return true if successful, false otherwise
*/
bool enableDockLED(const bool& enable);
/* Set the orange "check Create" LED on/off.
/**
* \brief Set the orange "check Create" LED on/off.
* \param enable
* \return true if successful, false otherwise
*/
bool enableCheckRobotLED(const bool& enable);
/* Set the center power LED.
/**
* \brief Set the center power LED.
* \param power in range [0, 255] where 0 = green and 255 = red
* \param intensity in range [0, 255]
* \return true if successful, false otherwise
*/
bool setPowerLED(const uint8_t& power, const uint8_t& intensity = 255);
/* Set the four 7-segment display digits from left to right.
/**
* \brief Set the four 7-segment display digits from left to right.
*
* \todo This function is not yet implemented refer to https://github.com/AutonomyLab/libcreate/issues/7
* \param segments to enable (true) or disable (false).
* The size of segments should be less than 29.
* The ordering of segments is left to right, top to bottom for each digit:
@ -245,10 +282,10 @@ namespace create {
*
* \return true if successful, false otherwise
*/
//TODO (https://github.com/AutonomyLab/libcreate/issues/7)
//bool setDigits(const std::vector<bool>& segments) const;
bool setDigits(const std::vector<bool>& segments) const;
/* Set the four 7-segment display digits from left to right with ASCII codes.
/**
* \brief Set the four 7-segment display digits from left to right with ASCII codes.
* Any code out side the accepted ascii ranges results in blank display.
* \param digit1 is left most digit with ascii range [32, 126]
* \param digit2 is second to left digit with ascii range [32, 126]
@ -259,7 +296,8 @@ namespace create {
bool setDigitsASCII(const uint8_t& digit1, const uint8_t& digit2,
const uint8_t& digit3, const uint8_t& digit4) const;
/* Defines a song from the provided notes and labels it with a song number.
/**
* \brief Defines a song from the provided notes and labels it with a song number.
* \param songNumber can be one of four possible song slots, [0, 4]
* \param songLength is the number of notes, maximum 16.
* length(notes) = length(durations) = songLength should be true.
@ -273,226 +311,299 @@ namespace create {
const uint8_t* notes,
const float* durations) const;
/* Play a previously created song.
/**
* \brief Play a previously created song.
* This command will not work if a song was not already defined with the specified song number.
* \param songNumber is one of four stored songs in the range [0, 4]
* \return true if successful, false otherwise
*/
bool playSong(const uint8_t& songNumber) const;
/* True if a left or right wheeldrop is detected.
/**
* \return true if a left or right wheeldrop is detected, false otherwise.
*/
bool isWheeldrop() const;
/* Returns true if left bumper is pressed, false otherwise.
/**
* \return true if left bumper is pressed, false otherwise.
*/
bool isLeftBumper() const;
/* Returns true if right bumper is pressed, false otherwise.
/**
* \return true if right bumper is pressed, false otherwise.
*/
bool isRightBumper() const;
/* True if wall is seen to right of Create, false otherwise.
/**
* \return true if wall is seen to right of Create, false otherwise.
*/
bool isWall() const;
/* True if there are any cliff detections, false otherwise.
/**
* \return true if there are any cliff detections, false otherwise.
*/
bool isCliff() const;
/* True if there is a virtual wall signal is being received.
/**
* \return true if there is a virtual wall signal is being received.
*/
bool isVirtualWall() const;
//TODO (https://github.com/AutonomyLab/libcreate/issues/8)
//bool isWheelOvercurrent() const;
/**
* \todo Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)
* \return true if drive motors are overcurrent.
*/
bool isWheelOvercurrent() const;
//TODO (https://github.com/AutonomyLab/libcreate/issues/8)
//bool isMainBrushOvercurrent() const;
/**
* \todo Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)
* \return true if main brush motor is overcurrent.
*/
bool isMainBrushOvercurrent() const;
//TODO (https://github.com/AutonomyLab/libcreate/issues/8)
//bool isSideBrushOvercurrent() const;
/**
* \todo Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)
* \return true if side brush motor is overcurrent.
*/
bool isSideBrushOvercurrent() const;
/* Get level of the dirt detect sensor.
/**
* \brief Get level of the dirt detect sensor.
* \return value in range [0, 255]
*/
uint8_t getDirtDetect() const;
/* Get value of 8-bit IR character currently being received by omnidirectional sensor.
/**
* \brief Get value of 8-bit IR character currently being received by omnidirectional sensor.
* \return value in range [0, 255]
*/
uint8_t getIROmni() const;
/* Get value of 8-bit IR character currently being received by left sensor.
/**
* \brief Get value of 8-bit IR character currently being received by left sensor.
* \return value in range [0, 255]
*/
uint8_t getIRLeft() const;
/* Get value of 8-bit IR character currently being received by right sensor.
/**
* \brief Get value of 8-bit IR character currently being received by right sensor.
* \return value in range [0, 255]
*/
uint8_t getIRRight() const;
/* Get state of 'clean' button ('play' button on Create 1).
/**
* \brief Get state of 'clean' button ('play' button on Create 1).
* \return true if button is pressed, false otherwise.
*/
bool isCleanButtonPressed() const;
/* Not supported by any firmware!
/**
* \brief Not supported by any firmware!
*/
bool isClockButtonPressed() const;
/* Not supported by any firmware!
/**
* \brief Not supported by any firmware!
*/
bool isScheduleButtonPressed() const;
/* Get state of 'day' button.
/**
* \brief Get state of 'day' button.
* \return true if button is pressed, false otherwise.
*/
bool isDayButtonPressed() const;
/* Get state of 'hour' button.
/**
* \brief Get state of 'hour' button.
* \return true if button is pressed, false otherwise.
*/
bool isHourButtonPressed() const;
/* Get state of 'min' button.
/**
* \brief Get state of 'min' button.
* \return true if button is pressed, false otherwise.
*/
bool isMinButtonPressed() const;
/* Get state of 'dock' button ('advance' button on Create 1).
/**
* \brief Get state of 'dock' button ('advance' button on Create 1).
* \return true if button is pressed, false otherwise.
*/
bool isDockButtonPressed() const;
/* Get state of 'spot' button.
/**
* \brief Get state of 'spot' button.
* \return true if button is pressed, false otherwise.
*/
bool isSpotButtonPressed() const;
/* Get battery voltage.
/**
* \brief Get battery voltage.
* \return value in volts
*/
float getVoltage() const;
/* Get current flowing in/out of battery.
/**
* \brief Get current flowing in/out of battery.
* A positive current implies Create is charging.
* \return value in amps
*/
float getCurrent() const;
/* Get the temperature of battery.
/**
* \brief Get the temperature of battery.
* \return value in Celsius
*/
int8_t getTemperature() const;
/* Get battery's remaining charge.
/**
* \brief Get battery's remaining charge.
* \return value in amp-hours
*/
float getBatteryCharge() const;
/* Get estimated battery charge capacity.
/**
* \brief Get estimated battery charge capacity.
* \return in amp-hours
*/
float getBatteryCapacity() const;
/* Return true if farthest left light sensor detects an obstacle, false otherwise.
/**
* \return true if farthest left light sensor detects an obstacle, false otherwise.
*/
bool isLightBumperLeft() const;
/* Return true if front left light sensor detects an obstacle, false otherwise.
/**
* \return true if front left light sensor detects an obstacle, false otherwise.
*/
bool isLightBumperFrontLeft() const;
/* Return true if center left light sensor detects an obstacle, false otherwise.
/**
* \return true if center left light sensor detects an obstacle, false otherwise.
*/
bool isLightBumperCenterLeft() const;
/* Return true if farthest right light sensor detects an obstacle, false otherwise.
/**
* \return true if farthest right light sensor detects an obstacle, false otherwise.
*/
bool isLightBumperRight() const;
/* Return true if front right light sensor detects an obstacle, false otherwise.
/**
* \return true if front right light sensor detects an obstacle, false otherwise.
*/
bool isLightBumperFrontRight() const;
/* Return true if center right light sensor detects an obstacle, false otherwise.
/**
* \return true if center right light sensor detects an obstacle, false otherwise.
*/
bool isLightBumperCenterRight() const;
/* Return the signal strength from the left light sensor.
/**
* \brief Get the signal strength from the left light sensor.
* \return value in range [0, 4095]
*/
uint16_t getLightSignalLeft() const;
/* Return the signal strength from the front-left light sensor.
/**
* \brief Get the signal strength from the front-left light sensor.
* \return value in range [0, 4095]
*/
uint16_t getLightSignalFrontLeft() const;
/* Return the signal strength from the center-left light sensor.
/**
* \brief Get the signal strength from the center-left light sensor.
* \return value in range [0, 4095]
*/
uint16_t getLightSignalCenterLeft() const;
/* Return the signal strength from the right light sensor.
/**
* \brief Get the signal strength from the right light sensor.
* \return value in range [0, 4095]
*/
uint16_t getLightSignalRight() const;
/* Return the signal strength from the front-right light sensor.
/**
* \brief Get the signal strength from the front-right light sensor.
* \return value in range [0, 4095]
*/
uint16_t getLightSignalFrontRight() const;
/* Return the signal strength from the center-right light sensor.
/**
* \brief Get the signal strength from the center-right light sensor.
* \return value in range [0, 4095]
*/
uint16_t getLightSignalCenterRight() const;
/* Return true if Create is moving forward, false otherwise.
/**
* \return true if Create is moving forward, false otherwise.
*/
bool isMovingForward() const;
/* Get the total distance (in meters) the left wheel has moved.
/**
* \brief Get the total distance the left wheel has moved.
* \return distance in meters.
*/
float getLeftWheelDistance() const;
/* Get the total distance (in meters) the right wheel has moved.
/**
* \brief Get the total distance the right wheel has moved.
* \return distance in meters.
*/
float getRightWheelDistance() const;
/* Get the requested velocity (in meters/sec) of the left wheel.
/**
* \brief Get the requested velocity of the left wheel.
* This value is bounded at the maximum velocity of the robot model.
* \return requested velocity in m/s.
*/
float getRequestedLeftWheelVel() const;
/* Get the requested velocity (in meters/sec) of the right wheel.
/**
* \brief Get the requested velocity of the right wheel.
* This value is bounded at the maximum velocity of the robot model.
* \return requested velocity in m/s.
*/
float getRequestedRightWheelVel() const;
/* Get the current charging state.
/**
* \brief Get the current charging state.
* \return charging state.
*/
create::ChargingState getChargingState() const;
/* Get the current mode reported by Create.
/**
* \brief Get the current mode reported by Create.
* \return mode.
*/
create::CreateMode getMode();
/* Get the estimated position of Create based on wheel encoders.
/**
* \brief Get the estimated pose of Create based on wheel encoders.
* \return pose (x-y position in meters and yaw angle in Radians)
*/
create::Pose getPose() const;
/* Get the estimated velocity of Create based on wheel encoders.
/**
* \brief Get the estimated velocity of Create based on wheel encoders.
* \return velocity (x and y in m/s and angular velocity in Radians/s)
*/
create::Vel getVel() const;
/* Get the number of corrupt serial packets since first connecting to Create.
/**
* \brief Get the number of corrupt serial packets since first connecting to Create.
* This value is ideally zero. If the number is consistently increasing then
* chances are some sensor information is not being updated.
* \return number of corrupt packets.
*/
uint64_t getNumCorruptPackets() const;
/* Get the total number of serial packets (including corrupt packets) since first connecting to Create.
/**
* \brief Get the total number of serial packets received (including corrupt packets) since first connecting to Create.
* \return total number of serial packets.
*/
uint64_t getTotalPackets() const;
}; // end Create class
} // namespace create
#endif // CREATE_DRIVER_H

26
include/create/types.h
View file

@ -45,8 +45,6 @@ namespace create {
V_ALL = 0xFFFFFFFF
};
class RobotModel {
public:
bool operator==(RobotModel& other) const;
@ -59,9 +57,20 @@ namespace create {
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
/**
* \brief Compatible with Roomba 400 series and earlier.
*/
static RobotModel ROOMBA_400;
/**
* \brief Compatible with Create 1 or Roomba 500 series.
*/
static RobotModel CREATE_1;
/**
* \brief Compatible with Create 2 or Roomba 600 series and greater.
*/
static RobotModel CREATE_2;
private:
uint32_t id;
@ -260,10 +269,17 @@ namespace create {
IR_CHAR_VIRTUAL_WALL = 162
};
/**
* \brief Represents a robot pose.
*/
struct Pose {
float x;
float y;
float yaw;
/**
* \brief 3x3 covariance matrix in row-major order.
*/
std::vector<float> covariance;
};