716 lines
19 KiB
C++
716 lines
19 KiB
C++
#include <boost/bind.hpp>
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#include <boost/make_shared.hpp>
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#include <iostream>
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#include <cmath>
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#include <ctime>
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#include <assert.h>
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#include "create/create.h"
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#define GET_DATA(id) (data->getPacket(id)->getData())
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#define BOUND(val,min,max) (val<min?val=min:(val>max?val=max:val=val))
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namespace create {
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// TODO: Handle SIGINT to do clean disconnect
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void Create::init() {
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mainMotorPower = 0;
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sideMotorPower = 0;
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vacuumMotorPower = 0;
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debrisLED = 0;
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spotLED = 0;
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dockLED = 0;
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checkLED = 0;
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powerLED = 0;
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powerLEDIntensity = 0;
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prevTicksLeft = 0;
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prevTicksRight = 0;
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firstOnData = true;
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pose.x = 0;
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pose.y = 0;
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pose.yaw = 0;
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vel.x = 0;
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vel.y = 0;
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vel.yaw = 0;
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data = boost::shared_ptr<Data>(new Data(model));
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serial = boost::make_shared<Serial>(data);
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}
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Create::Create(RobotModel m) : model(m) {
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init();
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}
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Create::Create(const std::string& dev, const int& baud, RobotModel m) : model(m) {
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init();
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serial->connect(dev, baud);
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}
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Create::~Create() {
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disconnect();
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}
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void Create::onData() {
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if (firstOnData) {
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if (model == CREATE_2) {
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// Initialize tick counts
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prevTicksLeft = GET_DATA(ID_LEFT_ENC);
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prevTicksRight = GET_DATA(ID_RIGHT_ENC);
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}
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prevOnDataTime = util::getTimestamp();
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firstOnData = false;
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}
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// Get current time
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util::timestamp_t curTime = util::getTimestamp();
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float dt = (curTime - prevOnDataTime) / 1000000.0;
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float deltaDist, deltaX, deltaY, deltaYaw;
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if (model == CREATE_1) {
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deltaDist = GET_DATA(ID_DISTANCE) / 1000.0; //mm -> m
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deltaYaw = GET_DATA(ID_ANGLE) * util::PI / 180.0; // D2R
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deltaX = deltaDist * cos(pose.yaw);
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deltaY = deltaDist * sin(pose.yaw);
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}
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else if (model == CREATE_2) {
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// Get cumulative ticks (wraps around at 65535)
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uint16_t totalTicksLeft = GET_DATA(ID_LEFT_ENC);
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uint16_t totalTicksRight = GET_DATA(ID_RIGHT_ENC);
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// Compute ticks since last update
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int ticksLeft = totalTicksLeft - prevTicksLeft;
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int ticksRight = totalTicksRight - prevTicksRight;
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prevTicksLeft = totalTicksLeft;
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prevTicksRight = totalTicksRight;
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// Handle wrap around
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if (fabs(ticksLeft) > 0.9 * util::CREATE_2_MAX_ENCODER_TICKS) {
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ticksLeft = (ticksLeft % util::CREATE_2_MAX_ENCODER_TICKS) + 1;
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}
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if (fabs(ticksRight) > 0.9 * util::CREATE_2_MAX_ENCODER_TICKS) {
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ticksRight = (ticksRight % util::CREATE_2_MAX_ENCODER_TICKS) + 1;
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}
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// Compute distance travelled by each wheel
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float leftWheelDist = (ticksLeft / util::CREATE_2_TICKS_PER_REV)
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* util::CREATE_2_WHEEL_DIAMETER * util::PI;
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float rightWheelDist = (ticksRight / util::CREATE_2_TICKS_PER_REV)
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* util::CREATE_2_WHEEL_DIAMETER * util::PI;
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float wheelDistDiff = rightWheelDist - leftWheelDist;
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deltaDist = (rightWheelDist + leftWheelDist) / 2.0;
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// Moving straight
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if (fabs(wheelDistDiff) < util::EPS) {
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deltaX = deltaDist * cos(pose.yaw);
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deltaY = deltaDist * sin(pose.yaw);
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deltaYaw = 0.0;
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//vel.yaw = 0;
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}
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else {
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float turnRadius = (util::CREATE_2_AXLE_LENGTH / 2.0) * (leftWheelDist + rightWheelDist) / wheelDistDiff;
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deltaYaw = (rightWheelDist - leftWheelDist) / util::CREATE_2_AXLE_LENGTH;
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deltaX = turnRadius * (sin(pose.yaw + deltaYaw) - sin(pose.yaw));
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deltaY = turnRadius * (cos(pose.yaw + deltaYaw) - cos(pose.yaw));
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}
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} // if CREATE_2
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if (fabs(dt) > util::EPS) {
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vel.x = deltaX / dt;
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vel.y = deltaY / dt;
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vel.yaw = deltaYaw / dt;
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}
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else {
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vel.x = 0.0;
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vel.y = 0.0;
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vel.yaw = 0.0;
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}
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pose.x += deltaX;
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pose.y += deltaY;
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pose.yaw = util::normalizeAngle(pose.yaw + deltaYaw);
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prevOnDataTime = curTime;
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// Make user registered callbacks, if any
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// TODO
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}
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bool Create::connect(const std::string& port, const int& baud) {
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bool timeout = false;
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time_t start, now;
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float maxWait = 30; // seconds
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float retryInterval = 5; //seconds
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time(&start);
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while (!serial->connect(port, baud, boost::bind(&Create::onData, this)) && !timeout) {
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time(&now);
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if (difftime(now, start) > maxWait) {
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timeout = true;
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CERR("[create::Create] ", "failed to connect over serial: timeout");
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}
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else {
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usleep(retryInterval * 1000000);
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COUT("[create::Create] ", "retrying to establish serial connection...");
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}
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}
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return !timeout;
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}
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void Create::disconnect() {
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serial->disconnect();
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firstOnData = true;
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}
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//void Create::reset() {
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// serial->sendOpcode(OC_RESET);
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// serial->reset(); // better
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// TODO : Should we request reading packets again?
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//}
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bool Create::setMode(const CreateMode& mode) {
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return serial->sendOpcode((Opcode) mode);
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}
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bool Create::clean(const CleanMode& mode) {
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return serial->sendOpcode((Opcode) mode);
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}
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bool Create::dock() const {
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return serial->sendOpcode(OC_DOCK);
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}
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bool Create::setDate(const DayOfWeek& day, const uint8_t& hour, const uint8_t& min) const {
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if (day < 0 || day > 6 ||
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hour < 0 || hour > 23 ||
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min < 0 || min > 59)
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return false;
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uint8_t cmd[4] = { OC_DATE, day, hour, min };
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return serial->send(cmd, 4);
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}
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bool Create::driveRadius(const float& vel, const float& radius) const {
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// Expects each parameter as two bytes each and in millimeters
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int16_t vel_mm = roundf(vel * 1000);
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int16_t radius_mm = roundf(radius * 1000);
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BOUND(vel_mm, -util::CREATE_2_MAX_VEL * 1000, util::CREATE_2_MAX_VEL * 1000);
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// Bound radius if not a special case
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if (radius_mm != 32768 && radius_mm != 32767 &&
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radius_mm != -1 && radius_mm != 1) {
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BOUND(radius_mm, -util::CREATE_2_MAX_RADIUS, util::CREATE_2_MAX_RADIUS);
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}
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uint8_t cmd[5] = { OC_DRIVE,
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vel_mm >> 8,
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vel_mm & 0xff,
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radius_mm >> 8,
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radius_mm & 0xff
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};
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return serial->send(cmd, 5);
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}
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bool Create::driveWheels(const float& leftVel, const float& rightVel) const {
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int16_t leftCmd = roundf(leftVel * 1000);
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int16_t rightCmd = roundf(rightVel * 1000);
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BOUND(leftCmd, -util::CREATE_2_MAX_VEL * 1000, util::CREATE_2_MAX_VEL * 1000);
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BOUND(rightCmd, -util::CREATE_2_MAX_VEL * 1000, util::CREATE_2_MAX_VEL * 1000);
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uint8_t cmd[5] = { OC_DRIVE_DIRECT,
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rightCmd >> 8,
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rightCmd & 0xff,
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leftCmd >> 8,
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leftCmd & 0xff
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};
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return serial->send(cmd, 5);
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}
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bool Create::drive(const float& xVel, const float& angularVel) const {
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// Compute left and right wheel velocities
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float leftVel = xVel - ((util::CREATE_2_AXLE_LENGTH / 2.0) * angularVel);
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float rightVel = xVel + ((util::CREATE_2_AXLE_LENGTH / 2.0) * angularVel);
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return driveWheels(leftVel, rightVel);
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}
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bool Create::setAllMotors(const float& main, const float& side, const float& vacuum) {
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if (main < -1.0 || main > 1.0 ||
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side < -1.0 || side > 1.0 ||
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vacuum < -1.0 || vacuum > 1.0)
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return false;
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mainMotorPower = roundf(main * 127);
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sideMotorPower = roundf(side * 127);
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vacuumMotorPower = roundf(vacuum * 127);
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uint8_t cmd[4] = { OC_MOTORS_PWM,
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mainMotorPower,
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sideMotorPower,
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vacuumMotorPower
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};
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return serial->send(cmd, 4);
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}
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bool Create::setMainMotor(const float& main) {
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return setAllMotors(main, sideMotorPower, vacuumMotorPower);
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}
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bool Create::setSideMotor(const float& side) {
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return setAllMotors(mainMotorPower, side, vacuumMotorPower);
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}
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bool Create::setVacuumMotor(const float& vacuum) {
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return setAllMotors(mainMotorPower, sideMotorPower, vacuum);
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}
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bool Create::updateLEDs() {
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uint8_t LEDByte = debrisLED + spotLED + dockLED + checkLED;
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uint8_t cmd[4] = { OC_LEDS,
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LEDByte,
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powerLED,
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powerLEDIntensity
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};
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return serial->send(cmd, 4);
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}
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bool Create::enableDebrisLED(const bool& enable) {
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if (enable)
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debrisLED = LED_DEBRIS;
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else
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debrisLED = 0;
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return updateLEDs();
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}
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bool Create::enableSpotLED(const bool& enable) {
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if (enable)
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spotLED = LED_SPOT;
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else
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spotLED = 0;
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return updateLEDs();
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}
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bool Create::enableDockLED(const bool& enable) {
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if (enable)
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dockLED = LED_DOCK;
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else
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dockLED = 0;
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return updateLEDs();
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}
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bool Create::enableCheckRobotLED(const bool& enable) {
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if (enable)
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checkLED = LED_CHECK;
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else
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checkLED = 0;
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return updateLEDs();
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}
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bool Create::setPowerLED(const uint8_t& power, const uint8_t& intensity) {
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powerLED = power;
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powerLEDIntensity = intensity;
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return updateLEDs();
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}
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//void Create::setDigits(uint8_t digit1, uint8_t digit2,
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// uint8_t digit3, uint8_t digit4) {
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//}
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bool Create::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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if (digit1 < 32 || digit1 > 126 ||
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digit2 < 32 || digit2 > 126 ||
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digit3 < 32 || digit3 > 126 ||
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digit4 < 32 || digit4 > 126)
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return false;
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uint8_t cmd[5] = { OC_DIGIT_LEDS_ASCII,
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digit1,
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digit2,
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digit3,
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digit4
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};
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return serial->send(cmd, 5);
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}
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bool Create::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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int i, j;
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uint8_t duration;
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uint8_t cmd[2 * songLength + 3];
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cmd[0] = OC_SONG;
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cmd[1] = songNumber;
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cmd[2] = songLength;
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j = 0;
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for (i = 3; i < 2 * songLength + 3; i = i + 2) {
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if (durations[j] < 0 || durations[j] >= 4)
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return false;
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duration = durations[j] * 64;
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cmd[i] = notes[j];
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cmd[i + 1] = duration;
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j++;
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}
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return serial->send(cmd, 2 * songLength + 3);
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}
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bool Create::playSong(const uint8_t& songNumber) const {
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if (songNumber < 0 || songNumber > 4)
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return false;
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uint8_t cmd[2] = { OC_PLAY, songNumber };
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return serial->send(cmd, 2);
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}
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bool Create::isWheeldrop() const {
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if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
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return (GET_DATA(ID_BUMP_WHEELDROP) & 0x0C) != 0;
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}
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else {
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CERR("[create::Create] ", "Wheeldrop sensor not supported!");
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return false;
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}
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}
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bool Create::isLeftBumper() const {
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if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
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return (GET_DATA(ID_BUMP_WHEELDROP) & 0x02) != 0;
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}
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else {
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CERR("[create::Create] ", "Left bumper not supported!");
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return false;
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}
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}
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bool Create::isRightBumper() const {
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if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
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return (GET_DATA(ID_BUMP_WHEELDROP) & 0x01) != 0;
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}
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else {
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CERR("[create::Create] ", "Right bumper not supported!");
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return false;
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}
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}
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bool Create::isWall() const {
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if (data->isValidPacketID(ID_WALL)) {
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return GET_DATA(ID_WALL) == 1;
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}
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else {
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CERR("[create::Create] ", "Wall sensor not supported!");
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return false;
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}
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}
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bool Create::isCliff() const {
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if (data->isValidPacketID(ID_CLIFF_LEFT) &&
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data->isValidPacketID(ID_CLIFF_FRONT_LEFT) &&
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data->isValidPacketID(ID_CLIFF_FRONT_RIGHT) &&
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data->isValidPacketID(ID_CLIFF_RIGHT)) {
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return GET_DATA(ID_CLIFF_LEFT) == 1 ||
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GET_DATA(ID_CLIFF_FRONT_LEFT) == 1 ||
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GET_DATA(ID_CLIFF_FRONT_RIGHT) == 1 ||
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GET_DATA(ID_CLIFF_RIGHT) == 1;
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}
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else {
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CERR("[create::Create] ", "Cliff sensors not supported!");
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return false;
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}
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}
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bool Create::isVirtualWall() const {
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if (data->isValidPacketID(ID_VIRTUAL_WALL)) {
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return GET_DATA(ID_VIRTUAL_WALL);
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}
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else {
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CERR("[create::Create] ", "Virtual Wall sensor not supported!");
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return false;
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}
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}
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uint8_t Create::getDirtDetect() const {
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if (data->isValidPacketID(ID_DIRT_DETECT)) {
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return GET_DATA(ID_DIRT_DETECT);
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}
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else {
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CERR("[create::Create] ", "Dirt detector not supported!");
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return -1;
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}
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}
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uint8_t Create::getIROmni() const {
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if (data->isValidPacketID(ID_IR_OMNI)) {
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return GET_DATA(ID_IR_OMNI);
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}
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else {
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CERR("[create::Create] ", "Omni IR sensor not supported!");
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return -1;
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}
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}
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uint8_t Create::getIRLeft() const {
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if (data->isValidPacketID(ID_IR_LEFT)) {
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return GET_DATA(ID_IR_LEFT);
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}
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else {
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CERR("[create::Create] ", "Left IR sensor not supported!");
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return -1;
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}
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}
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uint8_t Create::getIRRight() const {
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if (data->isValidPacketID(ID_IR_RIGHT)) {
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return GET_DATA(ID_IR_RIGHT);
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}
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else {
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CERR("[create::Create] ", "Right IR sensor not supported!");
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return -1;
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}
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}
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ChargingState Create::getChargingState() const {
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if (data->isValidPacketID(ID_CHARGE_STATE)) {
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uint8_t chargeState = GET_DATA(ID_CHARGE_STATE);
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assert(chargeState >= 0);
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assert(chargeState <= 5);
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return (ChargingState) chargeState;
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}
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else {
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CERR("[create::Create] ", "Charging state not supported!");
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return CHARGE_FAULT;
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}
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}
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bool Create::isCleanButtonPressed() const {
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if (data->isValidPacketID(ID_BUTTONS)) {
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return (GET_DATA(ID_BUTTONS) & 0x01) != 0;
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}
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else {
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CERR("[create::Create] ", "Buttons not supported!");
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return false;
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}
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}
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// Not supported by any 600 series firmware
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bool Create::isClockButtonPressed() const {
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CERR("[create::Create] ", "Clock button is not supported!");
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if (data->isValidPacketID(ID_BUTTONS)) {
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return (GET_DATA(ID_BUTTONS) & 0x80) != 0;
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}
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else {
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CERR("[create::Create] ", "Buttons not supported!");
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return false;
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}
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}
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// Not supported by any 600 series firmware
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bool Create::isScheduleButtonPressed() const {
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CERR("[create::Create] ", "Schedule button is not supported!");
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if (data->isValidPacketID(ID_BUTTONS)) {
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return (GET_DATA(ID_BUTTONS) & 0x40) != 0;
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}
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else {
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CERR("[create::Create] ", "Buttons not supported!");
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return false;
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}
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}
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|
bool Create::isDayButtonPressed() const {
|
|
if (data->isValidPacketID(ID_BUTTONS)) {
|
|
return (GET_DATA(ID_BUTTONS) & 0x20) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Buttons not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isHourButtonPressed() const {
|
|
if (data->isValidPacketID(ID_BUTTONS)) {
|
|
return (GET_DATA(ID_BUTTONS) & 0x10) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Buttons not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isMinButtonPressed() const {
|
|
if (data->isValidPacketID(ID_BUTTONS)) {
|
|
return (GET_DATA(ID_BUTTONS) & 0x08) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Buttons not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isDockButtonPressed() const {
|
|
if (data->isValidPacketID(ID_BUTTONS)) {
|
|
return (GET_DATA(ID_BUTTONS) & 0x04) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Buttons not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isSpotButtonPressed() const {
|
|
if (data->isValidPacketID(ID_BUTTONS)) {
|
|
return (GET_DATA(ID_BUTTONS) & 0x02) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Buttons not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
uint16_t Create::getVoltage() const {
|
|
if (data->isValidPacketID(ID_VOLTAGE)) {
|
|
return GET_DATA(ID_VOLTAGE);
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Voltage sensor not supported!");
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
int16_t Create::getCurrent() const {
|
|
if (data->isValidPacketID(ID_VOLTAGE)) {
|
|
return (int16_t) GET_DATA(ID_CURRENT);
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Current sensor not supported!");
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
int8_t Create::getTemperature() const {
|
|
if (data->isValidPacketID(ID_TEMP)) {
|
|
return (int8_t) GET_DATA(ID_TEMP);
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Temperature sensor not supported!");
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
uint16_t Create::getBatteryCharge() const {
|
|
if (data->isValidPacketID(ID_CHARGE)) {
|
|
return GET_DATA(ID_CHARGE);
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Battery charge not supported!");
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
uint16_t Create::getBatteryCapacity() const {
|
|
if (data->isValidPacketID(ID_CAPACITY)) {
|
|
return GET_DATA(ID_CAPACITY);
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Battery capacity not supported!");
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
bool Create::isLightBumperLeft() const {
|
|
if (data->isValidPacketID(ID_LIGHT)) {
|
|
return (GET_DATA(ID_LIGHT) & 0x01) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Light sensors not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isLightBumperFrontLeft() const {
|
|
if (data->isValidPacketID(ID_LIGHT)) {
|
|
return (GET_DATA(ID_LIGHT) & 0x02) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Light sensors not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isLightBumperCenterLeft() const {
|
|
if (data->isValidPacketID(ID_LIGHT)) {
|
|
return (GET_DATA(ID_LIGHT) & 0x04) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Light sensors not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isLightBumperCenterRight() const {
|
|
if (data->isValidPacketID(ID_LIGHT)) {
|
|
return (GET_DATA(ID_LIGHT) & 0x08) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Light sensors not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isLightBumperFrontRight() const {
|
|
if (data->isValidPacketID(ID_LIGHT)) {
|
|
return (GET_DATA(ID_LIGHT) & 0x10) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Light sensors not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isLightBumperRight() const {
|
|
if (data->isValidPacketID(ID_LIGHT)) {
|
|
return (GET_DATA(ID_LIGHT) & 0x20) != 0;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Light sensors not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool Create::isMovingForward() const {
|
|
if (data->isValidPacketID(ID_STASIS)) {
|
|
return GET_DATA(ID_STASIS) == 1;
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Stasis sensor not supported!");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
create::CreateMode Create::getMode() const {
|
|
if (data->isValidPacketID(ID_OI_MODE)) {
|
|
return (create::CreateMode) GET_DATA(ID_OI_MODE);
|
|
}
|
|
else {
|
|
CERR("[create::Create] ", "Querying Mode not supported!");
|
|
return create::MODE_UNAVAILABLE;
|
|
}
|
|
}
|
|
|
|
const Pose& Create::getPose() const {
|
|
return pose;
|
|
}
|
|
|
|
const Vel& Create::getVel() const {
|
|
return vel;
|
|
}
|
|
|
|
uint64_t Create::getNumCorruptPackets() const {
|
|
return serial->getNumCorruptPackets();
|
|
}
|
|
|
|
uint64_t Create::getTotalPackets() const {
|
|
return serial->getTotalPackets();
|
|
}
|
|
|
|
} // end namespace
|