1 | #ifndef ArduinoRobot_h
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2 | #define ArduinoRobot_h
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3 |
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4 | #include "Arduino_LCD.h" // Hardware-specific library
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5 | //#include "FormattedText.h"
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6 | #include "SquawkSD.h"
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7 | #include "Multiplexer.h"
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8 | #include "EasyTransfer2.h"
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9 | #include "EEPROM_I2C.h"
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10 | #include "Compass.h"
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11 | #include "Fat16.h"
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12 |
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13 | #if ARDUINO >= 100
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14 | #include "Arduino.h"
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15 | #else
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16 | #include "WProgram.h"
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17 | #endif
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18 |
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19 |
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20 | #define BUTTON_NONE -1
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21 | #define BUTTON_LEFT 0
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22 | #define BUTTON_DOWN 1
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23 | #define BUTTON_UP 2
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24 | #define BUTTON_RIGHT 3
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25 | #define BUTTON_MIDDLE 4
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26 | #define NUMBER_BUTTONS 5
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27 |
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28 | //beep length
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29 | #define BEEP_SIMPLE 0
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30 | #define BEEP_DOUBLE 1
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31 | #define BEEP_LONG 2
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32 |
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33 | // image locations on the EEPROM
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34 | #define HOME_BMP 0
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35 | #define BATTERY_BMP 2048
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36 | #define COMPASS_BMP 4096
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37 | #define CONTROL_BMP 6144
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38 | #define GEARS_BMP 8192
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39 | #define LIGHT_BMP 10240
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40 | #define OSCILLO_BMP 12288
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41 | #define VOLT_BMP 14336
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42 | #define INICIO_BMP 16384 // this is a full screen splash
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43 |
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44 | //Command code
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45 | #define COMMAND_SWITCH_MODE 0
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46 | #define COMMAND_RUN 10
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47 | #define COMMAND_MOTORS_STOP 11
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48 | #define COMMAND_ANALOG_WRITE 20
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49 | #define COMMAND_DIGITAL_WRITE 30
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50 | #define COMMAND_ANALOG_READ 40
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51 | #define COMMAND_ANALOG_READ_RE 41
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52 | #define COMMAND_DIGITAL_READ 50
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53 | #define COMMAND_DIGITAL_READ_RE 51
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54 | #define COMMAND_READ_IR 60
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55 | #define COMMAND_READ_IR_RE 61
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56 | #define COMMAND_ACTION_DONE 70
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57 | #define COMMAND_READ_TRIM 80
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58 | #define COMMAND_READ_TRIM_RE 81
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59 | #define COMMAND_PAUSE_MODE 90
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60 | #define COMMAND_LINE_FOLLOW_CONFIG 100
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61 |
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62 | //component codename
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63 | #define CN_LEFT_MOTOR 0
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64 | #define CN_RIGHT_MOTOR 1
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65 | #define CN_IR 2
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66 |
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67 | //motor board modes
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68 | #define MODE_SIMPLE 0
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69 | #define MODE_LINE_FOLLOW 1
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70 | #define MODE_ADJUST_MOTOR 2
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71 | #define MODE_IR_CONTROL 3
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72 |
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73 | //port types, for R/W
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74 | #define TYPE_TOP_TK 0
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75 | #define TYPE_TOP_TKD 1
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76 | #define TYPE_BOTTOM_TK 2
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77 |
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78 | //top TKs
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79 | #define TK0 100
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80 | #define TK1 101
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81 | #define TK2 102
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82 | #define TK3 103
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83 | #define TK4 104
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84 | #define TK5 105
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85 | #define TK6 106
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86 | #define TK7 107
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87 |
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88 | #define M0 TK0
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89 | #define M1 TK1
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90 | #define M2 TK2
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91 | #define M3 TK3
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92 | #define M4 TK4
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93 | #define M5 TK5
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94 | #define M6 TK6
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95 | #define M7 TK7
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96 |
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97 | //bottom TKs, just for communication purpose
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98 | #define B_TK1 201
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99 | #define B_TK2 202
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100 | #define B_TK3 203
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101 | #define B_TK4 204
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102 |
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103 | #define D10 B_TK1
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104 | #define D9 B_TK2
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105 | #define D8 B_TK4
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106 | #define D7 B_TK3
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107 |
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108 | //bottom IRs, for communication purpose
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109 | #define B_IR0 210
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110 | #define B_IR1 211
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111 | #define B_IR2 212
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112 | #define B_IR3 213
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113 | #define B_IR4 214
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114 |
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115 | #ifndef LED1
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116 | #define LED1 17
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117 | #endif
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118 |
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119 | //320 - 337 username,
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120 | #define ADDRESS_USERNAME 320
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121 | //338 - 355 robotname,
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122 | #define ADDRESS_ROBOTNAME 338
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123 | //356 - 373 cityname,
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124 | #define ADDRESS_CITYNAME 356
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125 | //374- 391 countryname,
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126 | #define ADDRESS_COUNTRYNAME 374
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127 | //508-511 robot info
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128 | #define ADDRESS_ROBOTINFO 508
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129 |
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130 | #define BLACK ILI9163C_BLACK
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131 | #define BLUE ILI9163C_BLUE
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132 | #define RED ILI9163C_RED
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133 | #define GREEN ILI9163C_GREEN
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134 | #define CYAN ILI9163C_CYAN
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135 | #define MAGENTA ILI9163C_MAGENTA
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136 | #define YELLOW ILI9163C_YELLOW
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137 | #define WHITE ILI9163C_WHITE
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138 |
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139 | //A data structure for storing the current state of motor board
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140 | struct MOTOR_BOARD_DATA{
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141 | int _B_TK1;
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142 | int _B_TK2;
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143 | int _B_TK3;
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144 | int _B_TK4;
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145 |
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146 | /*int _B_IR0;
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147 | int _B_IR1;
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148 | int _B_IR2;
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149 | int _B_IR3;
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150 | int _B_IR4;*/
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151 | };
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152 |
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153 | /*
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154 | A message structure will be:
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155 | switch mode:
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156 | byte COMMAND_SWITCH_MODE, byte mode
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157 | run:
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158 | byte COMMAND_RUN, int speedL, int speedR
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159 | analogWrite:
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160 | byte COMMAND_ANALOG_WRITE, byte codename, byte value;
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161 | digitalWrite:
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162 | byte COMMAND_DIGITAL_WRITE, byte codename, byte value;
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163 | analogRead:
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164 | byte COMMAND_ANALOG_READ, byte codename;
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165 | analogRead return:
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166 | byte COMMAND_ANALOG_READ_RE, byte codename, int value;
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167 | digitalRead return:
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168 | byte COMMAND_DIGITAL_READ_RE, byte codename, byte value;
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169 | read IR:
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170 | byte COMMAND_READ_IR, int valueA, int valueB, int valueC, int valueD;
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171 |
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172 |
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173 | */
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174 | #define NUM_EEPROM_BMP 10
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175 | struct EEPROM_BMP{
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176 | char name[8];
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177 | uint8_t width;
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178 | uint8_t height;
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179 | uint16_t address;
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180 | };
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181 |
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182 | //if you call #undef USE_SQUAWK_SYNTH_SD at the beginning of your sketch,
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183 | //it's going to remove anything regarding sound playing
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184 |
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185 | class RobotControl:public Multiplexer,
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186 | public EEPROM_I2C,
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187 | public Compass,
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188 | public SquawkSynthSD,
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189 | //public FormattedText
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190 | public Arduino_LCD
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191 | {
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192 | public:
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193 | RobotControl();
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194 | void begin();
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195 | void setMode(uint8_t mode);
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196 |
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197 | //Read & Write, TK0 - TK7, TKD0 - TKD1, bottom TK0 - TK4
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198 | bool digitalRead(uint8_t port);
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199 | int analogRead(uint8_t port);
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200 | void digitalWrite(uint8_t port, bool value);
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201 | void analogWrite(uint8_t port, uint8_t value);//It's not available, as there's no pin can be used for analog write
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202 |
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203 | //IR sensors from the bottom board
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204 | //define an array as "int arr[4];", and supply the arry name here
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205 | uint16_t IRarray[5];
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206 | void updateIR();
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207 |
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208 | //on board Potentiometor
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209 | int knobRead();
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210 | //Potentiometor of the motor board
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211 | int trimRead();
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212 |
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213 | //on board piezo
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214 | void beginSpeaker(uint16_t frequency=44100);
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215 | void playMelody(char* script);
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216 | void playFile(char* filename);
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217 | void stopPlayFile();
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218 | void beep(int beep_length=BEEP_SIMPLE);
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219 | void tempoWrite(int tempo);
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220 | void tuneWrite(float tune);
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221 |
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222 | //compass
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223 | uint16_t compassRead();
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224 | void drawCompass(uint16_t value);
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225 | void drawBase();
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226 | void drawDire(int16_t dire);
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227 |
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228 | //keyboard
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229 | void keyboardCalibrate(int *vals);
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230 | int8_t keyboardRead();//return the key that is being pressed?Has been pressed(with _processKeyboard)?
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231 |
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232 | //movement
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233 | void moveForward(int speed);
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234 | void moveBackward(int speed);
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235 | void turnLeft(int speed);
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236 | void turnRight(int speed);
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237 | void motorsStop();
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238 | void motorsWritePct(int speedLeftPct, int speedRightPct);
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239 |
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240 | void motorsWrite(int speedLeft,int speedRight);
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241 | void pointTo(int degrees);//turn to an absolute angle from the compass
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242 | void turn(int degress);//turn certain degrees from the current heading
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243 |
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244 | //Line Following
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245 | void lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);//default 11 5 50 10
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246 |
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247 | //TFT LCD
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248 | //use the same commands as Arduino_LCD
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249 | void beginTFT(uint16_t foreGround=BLACK, uint16_t background=WHITE);
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250 | /*void text(int value, uint8_t posX, uint8_t posY, bool EW);
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251 | void text(long value, uint8_t posX, uint8_t posY, bool EW);
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252 | void text(char* value, uint8_t posX, uint8_t posY, bool EW);
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253 | void text(char value, uint8_t posX, uint8_t posY, bool EW);*/
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254 | void debugPrint(long value, uint8_t x=0, uint8_t y=0);
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255 | void clearScreen();
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256 |
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257 | void drawBMP(char* filename, uint8_t x, uint8_t y);//detect if draw with EEPROM or SD, and draw it
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258 | void _drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height);//draw from EEPROM
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259 | void _drawBMP(char* filename, uint8_t x, uint8_t y);//draw from SD
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260 | void beginBMPFromEEPROM();
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261 | void endBMPFromEEPROM();
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262 |
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263 | uint16_t foreGround;//foreground color
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264 | uint16_t backGround;//background color
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265 |
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266 |
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267 | //SD card
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268 | void beginSD();
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269 |
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270 | //Information
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271 | void userNameRead(char* container);
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272 | void robotNameRead(char* container);
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273 | void cityNameRead(char* container);
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274 | void countryNameRead(char* container);
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275 |
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276 | void userNameWrite(char* text);
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277 | void robotNameWrite(char* text);
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278 | void cityNameWrite(char* text);
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279 | void countryNameWrite(char* text);
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280 |
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281 | //Others
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282 | bool isActionDone();
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283 | void pauseMode(uint8_t onOff);
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284 | void displayLogos();
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285 | void waitContinue(uint8_t key=BUTTON_MIDDLE);
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286 |
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287 | private:
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288 | //Read & Write
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289 | uint8_t _getTypeCode(uint8_t port);//different ports need different actions
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290 | uint8_t _portToTopMux(uint8_t port);//get the number for multiplexer within top TKs
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291 | uint8_t _topDPortToAPort(uint8_t port);//get the corrensponding analogIn pin for top TKDs
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292 |
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293 | bool _digitalReadTopMux(uint8_t port);//TK0 - TK7
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294 | int _analogReadTopMux(uint8_t port);
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295 |
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296 | bool _digitalReadTopPin(uint8_t port);
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297 | int _analogReadTopPin(uint8_t port);
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298 | void _digitalWriteTopPin(uint8_t port, bool value);
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299 |
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300 | MOTOR_BOARD_DATA motorBoardData;
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301 | int* parseMBDPort(uint8_t port);
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302 | int get_motorBoardData(uint8_t port);
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303 | void set_motorBoardData(uint8_t port, int value);
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304 |
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305 | bool _requestDigitalRead(uint8_t port);
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306 | int _requestAnalogRead(uint8_t port);
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307 | void _requestDigitalWrite(uint8_t port, uint8_t value);
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308 |
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309 | //LCD
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310 | void _enableLCD();
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311 | void _setWrite(uint8_t posX, uint8_t posY);
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312 | void _setErase(uint8_t posX, uint8_t posY);
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313 |
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314 |
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315 | //SD
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316 | SdCard card;
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317 | Fat16 file;
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318 | Fat16 melody;
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319 | void _enableSD();
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320 |
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321 | //keyboard
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322 | void _processKeyboard(); //need to run in loop, detect if the key is actually pressed
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323 | int averageAnalogInput(int pinNum);
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324 |
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325 | //Ultrasonic ranger
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326 | //uint8_t pinTrigger_UR;
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327 | //uint8_t pinEcho_UR;
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328 |
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329 | //Melody
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330 | void playNote(byte period, word length, char modifier);
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331 |
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332 | //Communication
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333 |
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334 | EasyTransfer2 messageOut;
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335 | EasyTransfer2 messageIn;
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336 |
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337 | //TFT LCD
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338 | bool _isEEPROM_BMP_Allocated;
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339 | EEPROM_BMP * _eeprom_bmp;
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340 | void _drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height);
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341 | void _drawBMP_SD(char* filename, uint8_t x, uint8_t y);
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342 |
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343 |
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344 | };
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345 |
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346 | inline void RobotControl::userNameRead(char* container){
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347 | EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18);
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348 | }
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349 | inline void RobotControl::robotNameRead(char* container){
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350 | EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18);
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351 | }
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352 | inline void RobotControl::cityNameRead(char* container){
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353 | EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18);
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354 | }
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355 | inline void RobotControl::countryNameRead(char* container){
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356 | EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18);
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357 | }
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358 |
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359 | inline void RobotControl::userNameWrite(char* text){
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360 | EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18);
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361 | }
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362 | inline void RobotControl::robotNameWrite(char* text){
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363 | EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18);
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364 | }
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365 | inline void RobotControl::cityNameWrite(char* text){
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366 | EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18);
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367 | }
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368 | inline void RobotControl::countryNameWrite(char* text){
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369 | EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18);
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370 | }
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371 |
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372 | extern RobotControl Robot;
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373 |
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374 | #endif
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