| /* | |
| 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 | |
| */ | |
| 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; | |
| } | |
| */ | |