| /* | |
| 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 | |
| */ | |
| 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(); | |
| } | |