Corobot.cpp File Reference

KU Corobots API implementation. More...

#include <limits.h>
#include <avr/pgmspace.h>
#include "Corobot.h"

Defines
#define	PWM_LT_PIN   6
	PWM output pin for the left motor.
#define	DIR_LT_PIN   7
	Direction control pin for the left motor.
#define	PWM_RT_PIN   9
	PWM output pin for the right motor.
#define	DIR_RT_PIN   8
	Direction control pin for the right motor.
#define	TRACK_LT_PIN   4
	Input pin for the left line tracker.
#define	TRACK_RT_PIN   5
	Input pin for the right line tracker.
#define	TRACK_CT_PIN   21
	Input pin for the center line tracker.
#define	ACCEL_X_PIN   A0
	Analog input for accelerometer's x value.
#define	ACCEL_Y_PIN   A1
	Analog input for accelerometer's y value.
#define	ACCEL_Z_PIN   A2
	Analog input for accelerometer's z value.
#define	LED_RED_PIN   15
	Output pin for the red LED on the basic I/O board.
#define	LED_YELLOW_PIN   14
	Output pin for the yellow LED on the basic I/O board.
#define	LED_GREEN_PIN   16
	Output pin for the green LED on the basic I/O board.
#define	SWITCH_PIN   10
	Input pin for the push switch on the basic I/O board.
#define	DEFAULT_BLACK_RAW   383,323,226,1011
	Default raw color sensor readings on black floor.
#define	DEFAULT_WHITE_RAW   3743,3647,2429,10866
	Default raw color sensor readings on white floor.
#define	DEFAULT_RED_RAW   2360,541,443,3377
	Default raw color sensor readings on red floor.
#define	DEFAULT_GREEN_RAW   741,1482,714,3228
	Default raw color sensor readings on green floor.
#define	DEFAULT_BLUE_RAW   511,906,1254,2883
	Default raw color sensor readings on blue floor.
#define	DEFAULT_YELLOW_RAW   4521,3597,1291,10385
	Default raw color sensor readings on yellow floor.
#define	DEFAULT_MAGENTA_RAW   1974,642,798,3506
	Default raw color sensor readings on magenta floor.
#define	DEFAULT_ACCEL_CENTER_X   349
	Default x-axis acceleration value when the robot is leveled.
#define	DEFAULT_ACCEL_CENTER_Y   345
	Default y-axis acceleration value when the robot is leveled.
#define	DEFAULT_ACCEL_CENTER_Z   419
	Default z-axis acceleration value when the robot is leveled.
#define	ACCEL_READ_REPEATS   5
	Number of readings for each acceleration inquiry.
#define	DEBOUNCING_DELAY   10
	Delay (in ms) for switch debouncing.
Variables
CorobotC	Corobot
	Main object for accessing and controlling the robot.

---

Detailed Description

KU Corobots API implementation.

Author:

Chaiporn Jaikaeo <chaiporn.j@ku.ac.th>