Last change
on this file since 136 was 136, checked in by ertl-honda, 8 years ago |
ライブラリとOS及びベーシックなサンプルの追加.
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File size:
695 bytes
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Rev | Line | |
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[136] | 1 | #include <ArduinoRobot.h>
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| 2 |
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| 3 | bool RobotControl::isActionDone(){
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| 4 | if(messageIn.receiveData()){
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| 5 | if(messageIn.readByte()==COMMAND_ACTION_DONE){
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| 6 | return true;
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| 7 | }
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| 8 | }
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| 9 | return false;
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| 10 | }
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| 11 |
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| 12 | void RobotControl::pauseMode(uint8_t onOff){
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| 13 | messageOut.writeByte(COMMAND_PAUSE_MODE);
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| 14 | if(onOff){
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| 15 | messageOut.writeByte(true);
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| 16 | }else{
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| 17 | messageOut.writeByte(false);
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| 18 | }
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| 19 | messageOut.sendData();
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| 20 | }
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| 21 |
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| 22 | void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
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| 23 | messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
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| 24 | messageOut.writeByte(KP);
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| 25 | messageOut.writeByte(KD);
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| 26 | messageOut.writeByte(robotSpeed);
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| 27 | messageOut.writeByte(intergrationTime);
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| 28 | messageOut.sendData();
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| 29 | }
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