File size: 3,006 Bytes
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 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 | /*
Copyright (c) 2013 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"
#include "EasyTransfer2.h"
void RobotControl::motorsStop(){
messageOut.writeByte(COMMAND_MOTORS_STOP);
messageOut.sendData();
}
void RobotControl::motorsWrite(int speedLeft,int speedRight){
messageOut.writeByte(COMMAND_RUN);
messageOut.writeInt(speedLeft);
messageOut.writeInt(speedRight);
messageOut.sendData();
}
void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){
int16_t speedLeft=255*speedLeftPct/100.0;
int16_t speedRight=255*speedRightPct/100.0;
motorsWrite(speedLeft,speedRight);
}
void RobotControl::pointTo(int angle){
int target=angle;
uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
int currentAngle=compassRead();
int diff=target-currentAngle;
direction=180-(diff+360)%360;
if(direction>0){
motorsWrite(speed,-speed);//right
delay(10);
}else{
motorsWrite(-speed,speed);//left
delay(10);
}
//if(diff<-180)
// diff += 360;
//else if(diff> 180)
// diff -= 360;
//direction=-diff;
if(abs(diff)<5){
motorsStop();
return;
}
}
}
void RobotControl::turn(int angle){
int originalAngle=compassRead();
int target=originalAngle+angle;
pointTo(target);
/*uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
if(direction>0){
motorsWrite(speed,speed);//right
delay(10);
}else{
motorsWrite(-speed,-speed);//left
delay(10);
}
int currentAngle=compassRead();
int diff=target-currentAngle;
if(diff<-180)
diff += 360;
else if(diff> 180)
diff -= 360;
direction=-diff;
if(abs(diff)<5){
motorsWrite(0,0);
return;
}
}*/
}
void RobotControl::moveForward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::moveBackward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::turnLeft(int speed){
motorsWrite(speed,255);
}
void RobotControl::turnRight(int speed){
motorsWrite(255,speed);
}
/*
int RobotControl::getIRrecvResult(){
messageOut.writeByte(COMMAND_GET_IRRECV);
messageOut.sendData();
//delay(10);
while(!messageIn.receiveData());
if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){
return messageIn.readInt();
}
return -1;
}
*/
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