compAIR/libcreate
compAIR/libcreate
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Add support for first generation Create (Roomba 400 series)

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This commit is contained in:
Jacob Perron 2016-03-14 20:04:34 -07:00
parent ee4c06a404
commit f073458624
7 changed files with 348 additions and 132 deletions
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86
src/data.cpp
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@ -4,7 +4,7 @@
namespace create {
Data::Data() {
Data::Data(RobotModel model) {
// Populate data map
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* WARNING: Adding too many packets will flood the serial *
@ -16,52 +16,59 @@ namespace create {
ADD_PACKET(ID_CLIFF_FRONT_LEFT, 1, "cliff_front_left");
ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right");
ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right");
//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");
ADD_PACKET(ID_IR_OMNI, 1, "ir_opcode");
ADD_PACKET(ID_BUTTONS, 1, "buttons");
//ADD_PACKET(ID_DISTANCE, 2, "distance");
//ADD_PACKET(ID_ANGLE, 2, "angle");
ADD_PACKET(ID_CHARGE_STATE, 1, "charging_state");
ADD_PACKET(ID_VOLTAGE, 2, "voltage");
ADD_PACKET(ID_CURRENT, 2, "current");
ADD_PACKET(ID_TEMP, 1, "temperature");
ADD_PACKET(ID_CHARGE , 2, "battery_charge");
ADD_PACKET(ID_CAPACITY, 2, "battery_capacity");
//ADD_PACKET(ID_WALL_SIGNAL, 2, "wall_signal");
//ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal");
//ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal");
//ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal");
//ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal");
//ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
//ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
//ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
//ADD_PACKET(ID_IO_MODE, 1, "oi_mode");
//ADD_PACKET(ID_SONG_NUM, 1, "song_number");
//ADD_PACKET(ID_PLAYING, 1, "song_playing");
//ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
//ADD_PACKET(ID_VEL, 2, "velocity");
//ADD_PACKET(ID_RADIUS, 2, "radius");
//ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
//ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left");
ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right");
ADD_PACKET(ID_LIGHT, 1, "light_bumper");
//ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
//ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
//ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
//ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
//ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
//ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
ADD_PACKET(ID_IR_LEFT, 1, "ir_opcode_left");
ADD_PACKET(ID_IR_RIGHT, 1, "ir_opcode_right");
//ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");
//ADD_PACKET(ID_RIGHT_MOTOR_CURRENT, 2, "right_motor_current");
//ADD_PACKET(ID_MAIN_BRUSH_CURRENT, 2, "main_brush_current");
//ADD_PACKET(ID_SIDE_BRUSH_CURRENT, 2, "side_brush_current");
ADD_PACKET(ID_STASIS, 1, "stasis");
if (model == CREATE_1) {
ADD_PACKET(ID_DISTANCE, 2, "distance");
ADD_PACKET(ID_ANGLE, 2, "angle");
std::cout << "Adding Create 1 packets" << std::endl;
}
else if (model == CREATE_2) {
std::cout << "Adding Create 2 packets" << std::endl;
//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");
//ADD_PACKET(ID_WALL_SIGNAL, 2, "wall_signal");
//ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal");
//ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal");
//ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal");
//ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal");
//ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
//ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
//ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
//ADD_PACKET(ID_IO_MODE, 1, "oi_mode");
//ADD_PACKET(ID_SONG_NUM, 1, "song_number");
//ADD_PACKET(ID_PLAYING, 1, "song_playing");
//ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
//ADD_PACKET(ID_VEL, 2, "velocity");
//ADD_PACKET(ID_RADIUS, 2, "radius");
//ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
//ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left");
ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right");
ADD_PACKET(ID_LIGHT, 1, "light_bumper");
//ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
//ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
//ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
//ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
//ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
//ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
ADD_PACKET(ID_IR_LEFT, 1, "ir_opcode_left");
ADD_PACKET(ID_IR_RIGHT, 1, "ir_opcode_right");
//ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");
//ADD_PACKET(ID_RIGHT_MOTOR_CURRENT, 2, "right_motor_current");
//ADD_PACKET(ID_MAIN_BRUSH_CURRENT, 2, "main_brush_current");
//ADD_PACKET(ID_SIDE_BRUSH_CURRENT, 2, "side_brush_current");
ADD_PACKET(ID_STASIS, 1, "stasis");
} // if CREATE_2
totalDataBytes = 0;
for (std::map<uint8_t, boost::shared_ptr<Packet> >::iterator it = packets.begin();
@ -85,6 +92,7 @@ namespace create {
if (isValidPacketID(id)) {
return packets[id];
}
std::cout << "Invalid packet " << (int) id << " requested" << std::endl;
return boost::shared_ptr<Packet>();
}