mirror of https://github.com/noisymime/Arduino.git
374 lines
9.5 KiB
C++
374 lines
9.5 KiB
C++
#ifndef ArduinoRobot_h
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#define ArduinoRobot_h
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#include "Arduino_LCD.h" // Hardware-specific library
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//#include "FormattedText.h"
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#include "SquawkSD.h"
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#include "Multiplexer.h"
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#include "EasyTransfer2.h"
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#include "EEPROM_I2C.h"
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#include "Compass.h"
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#include "Fat16.h"
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#if ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#define BUTTON_NONE -1
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#define BUTTON_LEFT 0
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#define BUTTON_DOWN 1
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#define BUTTON_UP 2
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#define BUTTON_RIGHT 3
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#define BUTTON_MIDDLE 4
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#define NUMBER_BUTTONS 5
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//beep length
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#define BEEP_SIMPLE 0
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#define BEEP_DOUBLE 1
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#define BEEP_LONG 2
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// image locations on the EEPROM
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#define HOME_BMP 0
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#define BATTERY_BMP 2048
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#define COMPASS_BMP 4096
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#define CONTROL_BMP 6144
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#define GEARS_BMP 8192
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#define LIGHT_BMP 10240
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#define OSCILLO_BMP 12288
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#define VOLT_BMP 14336
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#define INICIO_BMP 16384 // this is a full screen splash
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//Command code
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#define COMMAND_SWITCH_MODE 0
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#define COMMAND_RUN 10
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#define COMMAND_MOTORS_STOP 11
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#define COMMAND_ANALOG_WRITE 20
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#define COMMAND_DIGITAL_WRITE 30
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#define COMMAND_ANALOG_READ 40
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#define COMMAND_ANALOG_READ_RE 41
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#define COMMAND_DIGITAL_READ 50
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#define COMMAND_DIGITAL_READ_RE 51
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#define COMMAND_READ_IR 60
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#define COMMAND_READ_IR_RE 61
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#define COMMAND_ACTION_DONE 70
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#define COMMAND_READ_TRIM 80
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#define COMMAND_READ_TRIM_RE 81
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#define COMMAND_PAUSE_MODE 90
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#define COMMAND_LINE_FOLLOW_CONFIG 100
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//component codename
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#define CN_LEFT_MOTOR 0
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#define CN_RIGHT_MOTOR 1
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#define CN_IR 2
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//motor board modes
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#define MODE_SIMPLE 0
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#define MODE_LINE_FOLLOW 1
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#define MODE_ADJUST_MOTOR 2
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#define MODE_IR_CONTROL 3
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//port types, for R/W
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#define TYPE_TOP_TK 0
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#define TYPE_TOP_TKD 1
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#define TYPE_BOTTOM_TK 2
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//top TKs
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#define TK0 100
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#define TK1 101
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#define TK2 102
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#define TK3 103
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#define TK4 104
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#define TK5 105
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#define TK6 106
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#define TK7 107
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#define M0 TK0
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#define M1 TK1
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#define M2 TK2
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#define M3 TK3
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#define M4 TK4
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#define M5 TK5
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#define M6 TK6
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#define M7 TK7
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//bottom TKs, just for communication purpose
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#define B_TK1 201
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#define B_TK2 202
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#define B_TK3 203
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#define B_TK4 204
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#define D10 B_TK1
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#define D9 B_TK2
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#define D8 B_TK4
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#define D7 B_TK3
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//bottom IRs, for communication purpose
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#define B_IR0 210
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#define B_IR1 211
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#define B_IR2 212
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#define B_IR3 213
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#define B_IR4 214
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#ifndef LED1
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#define LED1 17
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#endif
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//320 - 337 username,
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#define ADDRESS_USERNAME 320
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//338 - 355 robotname,
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#define ADDRESS_ROBOTNAME 338
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//356 - 373 cityname,
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#define ADDRESS_CITYNAME 356
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//374- 391 countryname,
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#define ADDRESS_COUNTRYNAME 374
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//508-511 robot info
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#define ADDRESS_ROBOTINFO 508
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#define BLACK ILI9163C_BLACK
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#define BLUE ILI9163C_BLUE
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#define RED ILI9163C_RED
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#define GREEN ILI9163C_GREEN
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#define CYAN ILI9163C_CYAN
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#define MAGENTA ILI9163C_MAGENTA
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#define YELLOW ILI9163C_YELLOW
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#define WHITE ILI9163C_WHITE
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//A data structure for storing the current state of motor board
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struct MOTOR_BOARD_DATA{
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int _B_TK1;
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int _B_TK2;
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int _B_TK3;
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int _B_TK4;
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/*int _B_IR0;
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int _B_IR1;
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int _B_IR2;
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int _B_IR3;
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int _B_IR4;*/
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};
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/*
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A message structure will be:
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switch mode:
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byte COMMAND_SWITCH_MODE, byte mode
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run:
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byte COMMAND_RUN, int speedL, int speedR
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analogWrite:
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byte COMMAND_ANALOG_WRITE, byte codename, byte value;
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digitalWrite:
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byte COMMAND_DIGITAL_WRITE, byte codename, byte value;
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analogRead:
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byte COMMAND_ANALOG_READ, byte codename;
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analogRead return:
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byte COMMAND_ANALOG_READ_RE, byte codename, int value;
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digitalRead return:
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byte COMMAND_DIGITAL_READ_RE, byte codename, byte value;
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read IR:
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byte COMMAND_READ_IR, int valueA, int valueB, int valueC, int valueD;
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*/
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#define NUM_EEPROM_BMP 10
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struct EEPROM_BMP{
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char name[8];
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uint8_t width;
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uint8_t height;
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uint16_t address;
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};
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//if you call #undef USE_SQUAWK_SYNTH_SD at the beginning of your sketch,
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//it's going to remove anything regarding sound playing
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class RobotControl:public Multiplexer,
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public EEPROM_I2C,
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public Compass,
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public SquawkSynthSD,
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//public FormattedText
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public Arduino_LCD
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{
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public:
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RobotControl();
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void begin();
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void setMode(uint8_t mode);
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//Read & Write, TK0 - TK7, TKD0 - TKD1, bottom TK0 - TK4
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bool digitalRead(uint8_t port);
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int analogRead(uint8_t port);
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void digitalWrite(uint8_t port, bool value);
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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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//IR sensors from the bottom board
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//define an array as "int arr[4];", and supply the arry name here
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uint16_t IRarray[5];
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void updateIR();
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//on board Potentiometor
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int knobRead();
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//Potentiometor of the motor board
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int trimRead();
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//on board piezo
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void beginSpeaker(uint16_t frequency=44100);
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void playMelody(char* script);
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void playFile(char* filename);
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void stopPlayFile();
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void beep(int beep_length=BEEP_SIMPLE);
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void tempoWrite(int tempo);
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void tuneWrite(float tune);
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//compass
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uint16_t compassRead();
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void drawCompass(uint16_t value);
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void drawBase();
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void drawDire(int16_t dire);
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//keyboard
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void keyboardCalibrate(int *vals);
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int8_t keyboardRead();//return the key that is being pressed?Has been pressed(with _processKeyboard)?
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//movement
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void moveForward(int speed);
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void moveBackward(int speed);
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void turnLeft(int speed);
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void turnRight(int speed);
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void motorsStop();
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void motorsWritePct(int speedLeftPct, int speedRightPct);
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void motorsWrite(int speedLeft,int speedRight);
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void pointTo(int degrees);//turn to an absolute angle from the compass
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void turn(int degress);//turn certain degrees from the current heading
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//Line Following
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void lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);//default 11 5 50 10
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//TFT LCD
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//use the same commands as Arduino_LCD
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void beginTFT(uint16_t foreGround=BLACK, uint16_t background=WHITE);
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/*void text(int value, uint8_t posX, uint8_t posY, bool EW);
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void text(long value, uint8_t posX, uint8_t posY, bool EW);
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void text(char* value, uint8_t posX, uint8_t posY, bool EW);
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void text(char value, uint8_t posX, uint8_t posY, bool EW);*/
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void debugPrint(long value, uint8_t x=0, uint8_t y=0);
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void clearScreen();
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void drawBMP(char* filename, uint8_t x, uint8_t y);//detect if draw with EEPROM or SD, and draw it
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void _drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height);//draw from EEPROM
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void _drawBMP(char* filename, uint8_t x, uint8_t y);//draw from SD
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void beginBMPFromEEPROM();
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void endBMPFromEEPROM();
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uint16_t foreGround;//foreground color
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uint16_t backGround;//background color
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//SD card
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void beginSD();
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//Information
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void userNameRead(char* container);
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void robotNameRead(char* container);
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void cityNameRead(char* container);
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void countryNameRead(char* container);
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void userNameWrite(char* text);
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void robotNameWrite(char* text);
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void cityNameWrite(char* text);
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void countryNameWrite(char* text);
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//Others
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bool isActionDone();
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void pauseMode(uint8_t onOff);
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void displayLogos();
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void waitContinue(uint8_t key=BUTTON_MIDDLE);
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private:
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//Read & Write
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uint8_t _getTypeCode(uint8_t port);//different ports need different actions
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uint8_t _portToTopMux(uint8_t port);//get the number for multiplexer within top TKs
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uint8_t _topDPortToAPort(uint8_t port);//get the corrensponding analogIn pin for top TKDs
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bool _digitalReadTopMux(uint8_t port);//TK0 - TK7
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int _analogReadTopMux(uint8_t port);
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bool _digitalReadTopPin(uint8_t port);
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int _analogReadTopPin(uint8_t port);
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void _digitalWriteTopPin(uint8_t port, bool value);
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MOTOR_BOARD_DATA motorBoardData;
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int* parseMBDPort(uint8_t port);
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int get_motorBoardData(uint8_t port);
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void set_motorBoardData(uint8_t port, int value);
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bool _requestDigitalRead(uint8_t port);
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int _requestAnalogRead(uint8_t port);
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void _requestDigitalWrite(uint8_t port, uint8_t value);
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//LCD
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void _enableLCD();
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void _setWrite(uint8_t posX, uint8_t posY);
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void _setErase(uint8_t posX, uint8_t posY);
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//SD
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SdCard card;
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Fat16 file;
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Fat16 melody;
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void _enableSD();
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//keyboard
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void _processKeyboard(); //need to run in loop, detect if the key is actually pressed
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int averageAnalogInput(int pinNum);
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//Ultrasonic ranger
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//uint8_t pinTrigger_UR;
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//uint8_t pinEcho_UR;
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//Melody
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void playNote(byte period, word length, char modifier);
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//Communication
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EasyTransfer2 messageOut;
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EasyTransfer2 messageIn;
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//TFT LCD
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bool _isEEPROM_BMP_Allocated;
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EEPROM_BMP * _eeprom_bmp;
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void _drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height);
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void _drawBMP_SD(char* filename, uint8_t x, uint8_t y);
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};
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inline void RobotControl::userNameRead(char* container){
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EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18);
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}
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inline void RobotControl::robotNameRead(char* container){
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EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18);
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}
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inline void RobotControl::cityNameRead(char* container){
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EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18);
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}
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inline void RobotControl::countryNameRead(char* container){
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EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18);
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}
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inline void RobotControl::userNameWrite(char* text){
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EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18);
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}
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inline void RobotControl::robotNameWrite(char* text){
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EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18);
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}
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inline void RobotControl::cityNameWrite(char* text){
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EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18);
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}
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inline void RobotControl::countryNameWrite(char* text){
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EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18);
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}
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extern RobotControl Robot;
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#endif |