source: rtos_arduino/trunk/arduino_lib/libraries/Robot_Control/src/communication.cpp@ 136

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．
File size: 695 bytes
Line 
1#include <ArduinoRobot.h>
2
3bool RobotControl::isActionDone(){
4 if(messageIn.receiveData()){
5 if(messageIn.readByte()==COMMAND_ACTION_DONE){
6 return true;
7 }
8 }
9 return false;
10}
11
12void RobotControl::pauseMode(uint8_t onOff){
13 messageOut.writeByte(COMMAND_PAUSE_MODE);
14 if(onOff){
15 messageOut.writeByte(true);
16 }else{
17 messageOut.writeByte(false);
18 }
19 messageOut.sendData();
20}
21
22void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
23 messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
24 messageOut.writeByte(KP);
25 messageOut.writeByte(KD);
26 messageOut.writeByte(robotSpeed);
27 messageOut.writeByte(intergrationTime);
28 messageOut.sendData();
29}
Note: See TracBrowser for help on using the repository browser.