source: rtos_arduino/trunk/arduino_lib/libraries/Robot_Motor/src/ArduinoRobotMotorBoard.h@ 136

#ifndef ArduinoRobot_h
#define ArduinoRobot_h

#include "EasyTransfer2.h"
#include "Multiplexer.h"
#include "LineFollow.h"
//#include "IRremote.h"

#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif

//Command code
#define COMMAND_SWITCH_MODE 0
#define COMMAND_RUN     10
#define COMMAND_MOTORS_STOP     11
#define COMMAND_ANALOG_WRITE    20
#define COMMAND_DIGITAL_WRITE   30
#define COMMAND_ANALOG_READ     40
#define COMMAND_ANALOG_READ_RE  41
#define COMMAND_DIGITAL_READ    50
#define COMMAND_DIGITAL_READ_RE 51
#define COMMAND_READ_IR 60
#define COMMAND_READ_IR_RE      61
#define COMMAND_ACTION_DONE 70
#define COMMAND_READ_TRIM 80
#define COMMAND_READ_TRIM_RE 81
#define COMMAND_PAUSE_MODE 90
#define COMMAND_LINE_FOLLOW_CONFIG 100


//component codename
#define CN_LEFT_MOTOR   0
#define CN_RIGHT_MOTOR  1
#define CN_IR 2

//motor board modes
#define MODE_SIMPLE 0
#define MODE_LINE_FOLLOW 1
#define MODE_ADJUST_MOTOR 2
#define MODE_IR_CONTROL 3

//bottom TKs, just for communication purpose
#define B_TK1 201
#define B_TK2 202
#define B_TK3 203
#define B_TK4 204

/*
A message structure will be:
switch mode (2):
        byte COMMAND_SWITCH_MODE, byte mode
run (5):
        byte COMMAND_RUN, int speedL, int speedR
analogWrite (3):
        byte COMMAND_ANALOG_WRITE, byte codename, byte value;
digitalWrite (3):
        byte COMMAND_DIGITAL_WRITE, byte codename, byte value;
analogRead (2):
        byte COMMAND_ANALOG_READ, byte codename;
analogRead _return_ (4):
        byte COMMAND_ANALOG_READ_RE, byte codename, int value;
digitalRead (2):
        byte COMMAND_DIGITAL_READ, byte codename;
digitalRead _return_ (4):
        byte COMMAND_DIGITAL_READ_RE, byte codename, int value;
read IR (1):
        byte COMMAND_READ_IR;
read IR _return_ (9):
        byte COMMAND_READ_IR_RE, int valueA, int valueB, int valueC, int valueD;


*/

class RobotMotorBoard:public LineFollow{
        public:
                RobotMotorBoard();
                void begin();
                
                void process();
                
                void parseCommand();
                
                int IRread(uint8_t num);
                
                void setMode(uint8_t mode);
                void pauseMode(bool onOff);
                
                void motorsWrite(int speedL, int speedR);
                void motorsWritePct(int speedLpct, int speedRpct);//write motor values in percentage
                void motorsStop();              
        private:
                float motorAdjustment;//-1.0 ~ 1.0, whether left is lowered or right is lowered
                
                //convert codename to actual pins
                uint8_t parseCodename(uint8_t codename);
                uint8_t codenameToAPin(uint8_t codename);
                
                void stopCurrentActions();
                //void sendCommand(byte command,byte codename,int value);
                
                void _analogWrite(uint8_t codename, int value);
                void _digitalWrite(uint8_t codename, bool value);
                void _analogRead(uint8_t codename);
                void _digitalRead(uint8_t codename);
                int _IRread(uint8_t num);
                void _readIR();
                void _readTrim();
                
                void _refreshMotorAdjustment();
                
                Multiplexer IRs;
                uint8_t mode;
                uint8_t isPaused;
                EasyTransfer2 messageIn;
                EasyTransfer2 messageOut;
                
                //Line Following 
                void reportActionDone();
};

extern RobotMotorBoard RobotMotor;

#endif