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a9536d3 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 | /*
Copyright (c) 2012 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include <ArduinoRobot.h>
bool RobotControl::isActionDone(){
if(messageIn.receiveData()){
if(messageIn.readByte()==COMMAND_ACTION_DONE){
return true;
}
}
return false;
}
void RobotControl::pauseMode(uint8_t onOff){
messageOut.writeByte(COMMAND_PAUSE_MODE);
if(onOff){
messageOut.writeByte(true);
}else{
messageOut.writeByte(false);
}
messageOut.sendData();
}
void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
messageOut.writeByte(KP);
messageOut.writeByte(KD);
messageOut.writeByte(robotSpeed);
messageOut.writeByte(intergrationTime);
messageOut.sendData();
}
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