* Rename 'isIRDetect*' functions to 'isLightBumper*'

* Documentation / code cleanup
* Add function 'driveRadius'
* Add function 'isVirtualWall'

examples/create_demo.cpp

@@ -72,16 +72,16 @@ int main(int argc, char** argv) {
     // If everything is ok, drive forward using IR's to avoid obstacles
     if (drive) {
       robot->setPowerLED(0); // green
-      if (robot->isIRDetectLeft() ||
+      if (robot->isLightBumperLeft() ||
-          robot->isIRDetectFrontLeft() ||
+          robot->isLightBumperFrontLeft() ||
-          robot->isIRDetectCenterLeft()) {
+          robot->isLightBumperCenterLeft()) {
         // turn right
         robot->drive(0.1, -1.0);
         robot->setDigitsASCII('-','-','-',']');
       }
-      else if (robot->isIRDetectRight() ||
+      else if (robot->isLightBumperRight() ||
-               robot->isIRDetectFrontRight() ||
+               robot->isLightBumperFrontRight() ||
-               robot->isIRDetectCenterRight()) {
+               robot->isLightBumperCenterRight()) {
         // turn left
         robot->drive(0.1, 1.0);
         robot->setDigitsASCII('[','-','-','-');

include/create/create.h

@@ -90,8 +90,12 @@ namespace create {
       Create(RobotModel = CREATE_2);
 
       /* 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.
        */
-      Create(const std::string& port, const int& baud, RobotModel = CREATE_2);
+      Create(const std::string& port, const int& baud, RobotModel model = CREATE_2);
 
       ~Create();
 
@@ -107,26 +111,21 @@ namespace create {
        */
       void disconnect();
 
-      /* Resets as if you have removed the battery.
-       * Changes mode to MODE_PASSIVE.
-       */
-      // TODO
-      //void reset();
-
-      // TODO
-      //void setBaud(int baudcode);
-
       /* Change Create mode.
+       * \param mode to put Create in.
+       * \return true if successful, false otherwise
        */
       bool setMode(const create::CreateMode& mode);
 
       /* 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.
        * Changes mode to MODE_PASSIVE.
+       * \return true if successful, false otherwise
        */
       bool dock() const;
 
@@ -134,42 +133,49 @@ namespace create {
        * \param day in range [0, 6]
        * \param hour in range [0, 23]
        * \param min in range [0, 59]
+       * \return true if successful, false otherwise
        */
       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.
-       * \param vel is in m/s
+       * \param velocity is in m/s bounded between [-0.5, 0.5]
        * \param radius in meters.
+       *        Special cases: drive straight = CREATE_2_STRAIGHT_RADIUS,
+       *                       turn in place counter-clockwise = CREATE_2_IN_PLACE_RADIUS,
+       *                       turn in place clockwise = -CREATE_2_IN_PLACE_RADIUS
+       * \return true if successful, false otherwise
        */
-      //void driveRadius(const float& vel, const float& radius) const;
+      bool driveRadius(const float& velocity, const float& radius) const;
 
-      /* Set the velocities for the left and right wheels (m/s).
+      /* 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) const;
 
-      /* Set the PWM for each wheel.
-       */
-      // TODO
-      //void drivePWM(const int16_t& leftWheel, const int16_t& rightWheel) const;
-
       /* 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) const;
 
       /* 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.
        * \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.
        * \param power is in the range [0, 1]
+       * \return true if successful, false otherwise
        */
       bool setVacuumMotor(const float& power);
 
@@ -177,42 +183,57 @@ namespace create {
        * \param mainPower in the range [-1, 1]
        * \param sidePower in the range [-1, 1]
        * \param vacuumPower in the range [0, 1]
+       * \return true if successful, false otherwise
        */
       bool setAllMotors(const float& mainPower, const float& sidePower, const float& vacuumPower);
 
       /* 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.
+       * \param enable
+       * \return true if successful, false otherwise
        */
       bool enableSpotLED(const bool& enable);
 
       /* 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.
+       * \param enable
+       * \return true if successful, false otherwise
        */
       bool enableCheckRobotLED(const bool& enable);
 
       /* 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);
 
-      // TODO
-      //void setScheduleLED(...);
-
       /* Set the four 7-segment display digits from left to right.
+       * \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:
+       *
+       *            0           7             14            21
+       *          |‾‾‾|       |‾‾‾|         |‾‾‾|         |‾‾‾|
+       *        1 |___| 2   8 |___| 9    15 |___| 16   22 |___| 23
+       *          | 3 |       | 10|         | 17|         | 24|
+       *        4 |___| 5   11|___| 12   18 |___| 19   25 |___| 26
+       *            6           13            20            27
+       *
+       * \return true if successful, false otherwise
        */
-      // TODO
+      //TODO (https://github.com/AutonomyLab/libcreate/issues/7)
-      //void setDigits(uint8_t digit1, uint8_t digit2,
+      //bool setDigits(const std::vector<bool>& segments) const;
-      //               uint8_t digit3, uint8_t digit4);
-
-      // TODO
-      // pushButton(...);
 
       /* 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.
@@ -220,6 +241,7 @@ namespace create {
        * \param digit2 is second to left digit with ascii range [32, 126]
        * \param digit3 is second to right digit with ascii range [32, 126]
        * \param digit4 is right most digit with ascii range [32, 126]
+       * \return true if successful, false otherwise
        */
       bool setDigitsASCII(const uint8_t& digit1, const uint8_t& digit2,
                           const uint8_t& digit3, const uint8_t& digit4) const;
@@ -231,6 +253,7 @@ namespace create {
        * \param notes is a sequence of notes. Each note is in the range [31, 127].
        *        Anything outside this range is considered a rest note.
        * \param durations for each note in fractions of a second from the range [0, 4)
+       * \return true if successful, false otherwise
        */
       bool defineSong(const uint8_t& songNumber,
                       const uint8_t& songLength,
@@ -239,12 +262,11 @@ namespace create {
 
       /* 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;
 
-      // TODO
-      //void registerCallback(...);
-
       /* True if a left or right wheeldrop is detected.
        */
       bool isWheeldrop() const;
@@ -265,12 +287,19 @@ namespace create {
        */
       bool isCliff() const;
 
-      //TODO
+      /* True if there is a virtual wall signal is being received.
-      //bool isVirtualWall() const;
+       */
+      bool isVirtualWall() const;
 
-      //TODO
+      //TODO (https://github.com/AutonomyLab/libcreate/issues/8)
       //bool isWheelOvercurrent() const;
 
+      //TODO (https://github.com/AutonomyLab/libcreate/issues/8)
+      //bool isMainBrushOvercurrent() const;
+
+      //TODO (https://github.com/AutonomyLab/libcreate/issues/8)
+      //bool isSideBrushOvercurrent() const;
+
       /* Get level of the dirt detect sensor.
        * \return value in range [0, 255]
        */
@@ -292,13 +321,36 @@ namespace create {
        */
       uint8_t getIRRight() const;
 
+      /* Get state of 'clean' button ('play' button on Create 1).
+       */
       bool isCleanButtonPressed() const;
+
+      /* Not supported by any firmware!
+       */
       bool isClockButtonPressed() const;
+
+      /* Not supported by any firmware!
+       */
       bool isScheduleButtonPressed() const;
+
+      /* Get state of 'day' button.
+       */
       bool isDayButtonPressed() const;
+
+      /* Get state of 'hour' button.
+       */
       bool isHourButtonPressed() const;
+
+      /* Get state of 'min' button.
+       */
       bool isMinButtonPressed() const;
+
+      /* Get state of 'dock' button ('advance' button on Create 1).
+       */
       bool isDockButtonPressed() const;
+
+      /* Get state of 'spot' button.
+       */
       bool isSpotButtonPressed() const;
 
       /* Get battery voltage.
@@ -327,21 +379,39 @@ namespace create {
        */
       uint16_t getBatteryCapacity() const;
 
-      bool isIRDetectLeft() const;
+      /* Return true if farthest left light sensor detects an obstacle, false otherwise.
-      bool isIRDetectFrontLeft() const;
+       */
-      bool isIRDetectCenterLeft() const;
+      bool isLightBumperLeft() const;
-      bool isIRDetectRight() const;
-      bool isIRDetectFrontRight() const;
-      bool isIRDetectCenterRight() const;
 
-      uint16_t getDistLeft() const;
+      /* Return true if front left light sensor detects an obstacle, false otherwise.
-      uint16_t getDistFrontLeft() const;
+       */
-      uint16_t getDistCenterLeft() const;
+      bool isLightBumperFrontLeft() const;
-      uint16_t getDistRight() const;
-      uint16_t getDistFrontRight() const;
-      uint16_t getDistCenterRight() const;
 
-      /* Return true if Create is moving forward.
+      /* 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.
+       */
+      bool isLightBumperRight() const;
+
+      /* 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.
+       */
+      bool isLightBumperCenterRight() const;
+
+      //TODO (https://github.com/AutonomyLab/libcreate/issues/3)
+      //uint16_t getDistLeft() const;
+      //uint16_t getDistFrontLeft() const;
+      //uint16_t getDistCenterLeft() const;
+      //uint16_t getDistRight() const;
+      //uint16_t getDistFrontRight() const;
+      //uint16_t getDistCenterRight() const;
+
+      /* Return true if Create is moving forward, false otherwise.
        */
       bool isMovingForward() const;
 
@@ -353,7 +423,7 @@ namespace create {
        */
       create::CreateMode getMode() const;
 
-      /* Get the estimated position of Create based on it's wheel encoders.
+      /* Get the estimated position of Create based on wheel encoders.
        */
       const create::Pose& getPose() const;
 

include/create/util.h

@@ -46,6 +46,9 @@ namespace create {
     static const uint32_t CREATE_2_MAX_ENCODER_TICKS = 65535;
     static const float CREATE_2_WHEEL_DIAMETER = 0.078;
     static const float CREATE_2_MAX_VEL = 0.5;
+    static const float CREATE_2_MAX_RADIUS = 2.0;
+    static const float CREATE_2_STRAIGHT_RADIUS = 32.768;
+    static const float CREATE_2_IN_PLACE_RADUIS = 0.001;
     static const float PI = 3.14159;
     static const float TWO_PI = 6.28318;
     static const float EPS = 0.0001;

src/create.cpp

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

src/data.cpp

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