75dd293bfd
* Documentation / code cleanup * Add function 'driveRadius' * Add function 'isVirtualWall'
445 lines
15 KiB
C++
445 lines
15 KiB
C++
/**
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Software License Agreement (BSD)
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\file create.h
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\authors Jacob Perron <jperron@sfu.ca>
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\copyright Copyright (c) 2015, Autonomy Lab (Simon Fraser University), All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of Autonomy Lab nor the names of its contributors may
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be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CREATE_H
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#define CREATE_H
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#include <boost/shared_ptr.hpp>
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#include <string>
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#include <unistd.h>
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#include "create/serial.h"
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#include "create/data.h"
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#include "create/types.h"
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#include "create/util.h"
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namespace create {
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class Create {
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private:
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enum CreateLED {
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LED_DEBRIS = 1,
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LED_SPOT = 2,
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LED_DOCK = 4,
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LED_CHECK = 8
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};
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RobotModel model;
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uint8_t mainMotorPower;
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uint8_t sideMotorPower;
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uint8_t vacuumMotorPower;
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// LEDs
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uint8_t debrisLED;
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uint8_t spotLED;
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uint8_t dockLED;
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uint8_t checkLED;
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uint8_t powerLED;
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uint8_t powerLEDIntensity;
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create::Pose pose;
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create::Vel vel;
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uint32_t prevTicksLeft;
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uint32_t prevTicksRight;
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float prevLeftVel;
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float prevRightVel;
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bool firstOnData;
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util::timestamp_t prevOnDataTime;
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void init();
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bool updateLEDs();
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void onData();
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protected:
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boost::shared_ptr<create::Data> data;
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boost::shared_ptr<create::Serial> serial;
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public:
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/* Default constructor.
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* Does not attempt to establish serial connection to Create.
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*/
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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 model = CREATE_2);
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~Create();
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/* Make a serial connection to Create.
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* This is the first thing that should be done after instantiated this class.
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* \return true if a successful connection is established, false otherwise.
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*/
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bool connect(const std::string& port, const int& baud);
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inline bool connected() const { return serial->connected(); };
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/* Disconnect from serial.
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*/
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void disconnect();
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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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/* Sets the internal clock of 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 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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bool driveRadius(const float& velocity, const float& radius) const;
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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 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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/* Set the power of all motors.
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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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/* 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 (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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* \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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/* Defines a song from the provided notes and labels it with a song number.
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* \param songNumber can be one of four possible song slots, [0, 4]
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* \param songLength is the number of notes, maximum 16.
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* length(notes) = length(durations) = songLength should be true.
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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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const uint8_t* notes,
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const float* durations) const;
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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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/* True if a left or right wheeldrop is detected.
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*/
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bool isWheeldrop() const;
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/* Returns true if left bumper is pressed, false otherwise.
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*/
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bool isLeftBumper() const;
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/* Returns true if right bumper is pressed, false otherwise.
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*/
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bool isRightBumper() const;
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/* True if wall is seen to right of Create, false otherwise.
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*/
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bool isWall() const;
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/* True if there are any cliff detections, false otherwise.
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*/
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bool isCliff() 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 (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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uint8_t getDirtDetect() const;
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/* Get value of 8-bit IR character currently being received by omnidirectional sensor.
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* \return value in range [0, 255]
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*/
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uint8_t getIROmni() const;
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/* Get value of 8-bit IR character currently being received by left sensor.
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* \return value in range [0, 255]
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*/
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uint8_t getIRLeft() const;
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/* Get value of 8-bit IR character currently being received by right sensor.
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* \return value in range [0, 255]
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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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* \return value in millivolts
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*/
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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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* \return value in milliamps
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*/
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int16_t getCurrent() const;
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/* Get the temperature of battery.
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* \return value in Celsius
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*/
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int8_t getTemperature() const;
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/* Get battery's remaining charge.
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* \return value in milliamp-hours
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*/
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uint16_t getBatteryCharge() const;
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/* Get estimated battery charge capacity.
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* \return in milliamp-hours
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*/
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uint16_t getBatteryCapacity() 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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/* 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 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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/* Get the current charging state.
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*/
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create::ChargingState getChargingState() const;
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/* Get the current mode reported by 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 wheel encoders.
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*/
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const create::Pose& getPose() const;
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/* Get the estimated velocity of Create based on wheel encoders.
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*/
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const create::Vel& getVel() const;
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/* Get the number of corrupt serial packets since first connecting to Create.
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*/
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uint64_t getNumCorruptPackets() const;
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/* Get the total number of serial packets (including corrupt packets) since first connecting to Create.
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*/
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uint64_t getTotalPackets() const;
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}; // end Create class
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} // namespace create
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#endif // CREATE_DRIVER_H
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