source: rtos_arduino/trunk/arduino_lib/libraries/Robot_Control/src/ArduinoRobot.h@ 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: 9.5 KB
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1#ifndef ArduinoRobot_h
2#define ArduinoRobot_h
3
4#include "Arduino_LCD.h" // Hardware-specific library
5//#include "FormattedText.h"
6#include "SquawkSD.h"
7#include "Multiplexer.h"
8#include "EasyTransfer2.h"
9#include "EEPROM_I2C.h"
10#include "Compass.h"
11#include "Fat16.h"
12
13#if ARDUINO >= 100
14#include "Arduino.h"
15#else
16#include "WProgram.h"
17#endif
18
19
20#define BUTTON_NONE -1
21#define BUTTON_LEFT 0
22#define BUTTON_DOWN 1
23#define BUTTON_UP 2
24#define BUTTON_RIGHT 3
25#define BUTTON_MIDDLE 4
26#define NUMBER_BUTTONS 5
27
28//beep length
29#define BEEP_SIMPLE 0
30#define BEEP_DOUBLE 1
31#define BEEP_LONG 2
32
33// image locations on the EEPROM
34 #define HOME_BMP 0
35#define BATTERY_BMP 2048
36#define COMPASS_BMP 4096
37#define CONTROL_BMP 6144
38#define GEARS_BMP 8192
39#define LIGHT_BMP 10240
40#define OSCILLO_BMP 12288
41#define VOLT_BMP 14336
42#define INICIO_BMP 16384 // this is a full screen splash
43
44//Command code
45#define COMMAND_SWITCH_MODE 0
46#define COMMAND_RUN 10
47#define COMMAND_MOTORS_STOP 11
48#define COMMAND_ANALOG_WRITE 20
49#define COMMAND_DIGITAL_WRITE 30
50#define COMMAND_ANALOG_READ 40
51#define COMMAND_ANALOG_READ_RE 41
52#define COMMAND_DIGITAL_READ 50
53#define COMMAND_DIGITAL_READ_RE 51
54#define COMMAND_READ_IR 60
55#define COMMAND_READ_IR_RE 61
56#define COMMAND_ACTION_DONE 70
57#define COMMAND_READ_TRIM 80
58#define COMMAND_READ_TRIM_RE 81
59#define COMMAND_PAUSE_MODE 90
60#define COMMAND_LINE_FOLLOW_CONFIG 100
61
62//component codename
63#define CN_LEFT_MOTOR 0
64#define CN_RIGHT_MOTOR 1
65#define CN_IR 2
66
67//motor board modes
68#define MODE_SIMPLE 0
69#define MODE_LINE_FOLLOW 1
70#define MODE_ADJUST_MOTOR 2
71#define MODE_IR_CONTROL 3
72
73//port types, for R/W
74#define TYPE_TOP_TK 0
75#define TYPE_TOP_TKD 1
76#define TYPE_BOTTOM_TK 2
77
78//top TKs
79#define TK0 100
80#define TK1 101
81#define TK2 102
82#define TK3 103
83#define TK4 104
84#define TK5 105
85#define TK6 106
86#define TK7 107
87
88#define M0 TK0
89#define M1 TK1
90#define M2 TK2
91#define M3 TK3
92#define M4 TK4
93#define M5 TK5
94#define M6 TK6
95#define M7 TK7
96
97//bottom TKs, just for communication purpose
98#define B_TK1 201
99#define B_TK2 202
100#define B_TK3 203
101#define B_TK4 204
102
103#define D10 B_TK1
104#define D9 B_TK2
105#define D8 B_TK4
106#define D7 B_TK3
107
108//bottom IRs, for communication purpose
109#define B_IR0 210
110#define B_IR1 211
111#define B_IR2 212
112#define B_IR3 213
113#define B_IR4 214
114
115#ifndef LED1
116#define LED1 17
117#endif
118
119//320 - 337 username,
120#define ADDRESS_USERNAME 320
121//338 - 355 robotname,
122#define ADDRESS_ROBOTNAME 338
123//356 - 373 cityname,
124#define ADDRESS_CITYNAME 356
125 //374- 391 countryname,
126#define ADDRESS_COUNTRYNAME 374
127//508-511 robot info
128#define ADDRESS_ROBOTINFO 508
129
130#define BLACK ILI9163C_BLACK
131#define BLUE ILI9163C_BLUE
132#define RED ILI9163C_RED
133#define GREEN ILI9163C_GREEN
134#define CYAN ILI9163C_CYAN
135#define MAGENTA ILI9163C_MAGENTA
136#define YELLOW ILI9163C_YELLOW
137#define WHITE ILI9163C_WHITE
138
139//A data structure for storing the current state of motor board
140struct MOTOR_BOARD_DATA{
141 int _B_TK1;
142 int _B_TK2;
143 int _B_TK3;
144 int _B_TK4;
145
146 /*int _B_IR0;
147 int _B_IR1;
148 int _B_IR2;
149 int _B_IR3;
150 int _B_IR4;*/
151};
152
153/*
154A message structure will be:
155switch mode:
156 byte COMMAND_SWITCH_MODE, byte mode
157run:
158 byte COMMAND_RUN, int speedL, int speedR
159analogWrite:
160 byte COMMAND_ANALOG_WRITE, byte codename, byte value;
161digitalWrite:
162 byte COMMAND_DIGITAL_WRITE, byte codename, byte value;
163analogRead:
164 byte COMMAND_ANALOG_READ, byte codename;
165analogRead return:
166 byte COMMAND_ANALOG_READ_RE, byte codename, int value;
167digitalRead return:
168 byte COMMAND_DIGITAL_READ_RE, byte codename, byte value;
169read IR:
170 byte COMMAND_READ_IR, int valueA, int valueB, int valueC, int valueD;
171
172
173*/
174#define NUM_EEPROM_BMP 10
175struct EEPROM_BMP{
176 char name[8];
177 uint8_t width;
178 uint8_t height;
179 uint16_t address;
180};
181
182//if you call #undef USE_SQUAWK_SYNTH_SD at the beginning of your sketch,
183//it's going to remove anything regarding sound playing
184
185class RobotControl:public Multiplexer,
186public EEPROM_I2C,
187public Compass,
188public SquawkSynthSD,
189//public FormattedText
190public Arduino_LCD
191{
192 public:
193 RobotControl();
194 void begin();
195 void setMode(uint8_t mode);
196
197 //Read & Write, TK0 - TK7, TKD0 - TKD1, bottom TK0 - TK4
198 bool digitalRead(uint8_t port);
199 int analogRead(uint8_t port);
200 void digitalWrite(uint8_t port, bool value);
201 void analogWrite(uint8_t port, uint8_t value);//It's not available, as there's no pin can be used for analog write
202
203 //IR sensors from the bottom board
204 //define an array as "int arr[4];", and supply the arry name here
205 uint16_t IRarray[5];
206 void updateIR();
207
208 //on board Potentiometor
209 int knobRead();
210 //Potentiometor of the motor board
211 int trimRead();
212
213 //on board piezo
214 void beginSpeaker(uint16_t frequency=44100);
215 void playMelody(char* script);
216 void playFile(char* filename);
217 void stopPlayFile();
218 void beep(int beep_length=BEEP_SIMPLE);
219 void tempoWrite(int tempo);
220 void tuneWrite(float tune);
221
222 //compass
223 uint16_t compassRead();
224 void drawCompass(uint16_t value);
225 void drawBase();
226 void drawDire(int16_t dire);
227
228 //keyboard
229 void keyboardCalibrate(int *vals);
230 int8_t keyboardRead();//return the key that is being pressed?Has been pressed(with _processKeyboard)?
231
232 //movement
233 void moveForward(int speed);
234 void moveBackward(int speed);
235 void turnLeft(int speed);
236 void turnRight(int speed);
237 void motorsStop();
238 void motorsWritePct(int speedLeftPct, int speedRightPct);
239
240 void motorsWrite(int speedLeft,int speedRight);
241 void pointTo(int degrees);//turn to an absolute angle from the compass
242 void turn(int degress);//turn certain degrees from the current heading
243
244 //Line Following
245 void lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);//default 11 5 50 10
246
247 //TFT LCD
248 //use the same commands as Arduino_LCD
249 void beginTFT(uint16_t foreGround=BLACK, uint16_t background=WHITE);
250 /*void text(int value, uint8_t posX, uint8_t posY, bool EW);
251 void text(long value, uint8_t posX, uint8_t posY, bool EW);
252 void text(char* value, uint8_t posX, uint8_t posY, bool EW);
253 void text(char value, uint8_t posX, uint8_t posY, bool EW);*/
254 void debugPrint(long value, uint8_t x=0, uint8_t y=0);
255 void clearScreen();
256
257 void drawBMP(char* filename, uint8_t x, uint8_t y);//detect if draw with EEPROM or SD, and draw it
258 void _drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height);//draw from EEPROM
259 void _drawBMP(char* filename, uint8_t x, uint8_t y);//draw from SD
260 void beginBMPFromEEPROM();
261 void endBMPFromEEPROM();
262
263 uint16_t foreGround;//foreground color
264 uint16_t backGround;//background color
265
266
267 //SD card
268 void beginSD();
269
270 //Information
271 void userNameRead(char* container);
272 void robotNameRead(char* container);
273 void cityNameRead(char* container);
274 void countryNameRead(char* container);
275
276 void userNameWrite(char* text);
277 void robotNameWrite(char* text);
278 void cityNameWrite(char* text);
279 void countryNameWrite(char* text);
280
281 //Others
282 bool isActionDone();
283 void pauseMode(uint8_t onOff);
284 void displayLogos();
285 void waitContinue(uint8_t key=BUTTON_MIDDLE);
286
287 private:
288 //Read & Write
289 uint8_t _getTypeCode(uint8_t port);//different ports need different actions
290 uint8_t _portToTopMux(uint8_t port);//get the number for multiplexer within top TKs
291 uint8_t _topDPortToAPort(uint8_t port);//get the corrensponding analogIn pin for top TKDs
292
293 bool _digitalReadTopMux(uint8_t port);//TK0 - TK7
294 int _analogReadTopMux(uint8_t port);
295
296 bool _digitalReadTopPin(uint8_t port);
297 int _analogReadTopPin(uint8_t port);
298 void _digitalWriteTopPin(uint8_t port, bool value);
299
300 MOTOR_BOARD_DATA motorBoardData;
301 int* parseMBDPort(uint8_t port);
302 int get_motorBoardData(uint8_t port);
303 void set_motorBoardData(uint8_t port, int value);
304
305 bool _requestDigitalRead(uint8_t port);
306 int _requestAnalogRead(uint8_t port);
307 void _requestDigitalWrite(uint8_t port, uint8_t value);
308
309 //LCD
310 void _enableLCD();
311 void _setWrite(uint8_t posX, uint8_t posY);
312 void _setErase(uint8_t posX, uint8_t posY);
313
314
315 //SD
316 SdCard card;
317 Fat16 file;
318 Fat16 melody;
319 void _enableSD();
320
321 //keyboard
322 void _processKeyboard(); //need to run in loop, detect if the key is actually pressed
323 int averageAnalogInput(int pinNum);
324
325 //Ultrasonic ranger
326 //uint8_t pinTrigger_UR;
327 //uint8_t pinEcho_UR;
328
329 //Melody
330 void playNote(byte period, word length, char modifier);
331
332 //Communication
333
334 EasyTransfer2 messageOut;
335 EasyTransfer2 messageIn;
336
337 //TFT LCD
338 bool _isEEPROM_BMP_Allocated;
339 EEPROM_BMP * _eeprom_bmp;
340 void _drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height);
341 void _drawBMP_SD(char* filename, uint8_t x, uint8_t y);
342
343
344};
345
346inline void RobotControl::userNameRead(char* container){
347 EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18);
348}
349inline void RobotControl::robotNameRead(char* container){
350 EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18);
351}
352inline void RobotControl::cityNameRead(char* container){
353 EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18);
354}
355inline void RobotControl::countryNameRead(char* container){
356 EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18);
357}
358
359inline void RobotControl::userNameWrite(char* text){
360 EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18);
361}
362inline void RobotControl::robotNameWrite(char* text){
363 EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18);
364}
365inline void RobotControl::cityNameWrite(char* text){
366 EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18);
367}
368inline void RobotControl::countryNameWrite(char* text){
369 EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18);
370}
371
372extern RobotControl Robot;
373
374#endif
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