CorobotC Class Reference

Class definition for creating a Corobot controller object. More...

#include <Corobot.h>

List of all members.

Public Member Functions
	CorobotC ()
	Construct a Corobot object.
void	init ()
	Initialize Corobot.
void	setLeftMotor (Direction dir, uint8_t speed) const
	Set power and direction for the left motor.
void	setRightMotor (Direction dir, uint8_t speed) const
	Set power and direction for the right motor.
void	setMotors (Direction dir_l, uint8_t speed_l, Direction dir_r, uint8_t speed_r)
	Set powers and directions for both motors.
void	calibrateMotors (uint8_t leftMotorPercent, uint8_t rightMotorPercent)
	Calibrate motors.
bool	getLeftEye () const
	Check whether the left eye (the left line tracker) is seeing non-black color.
bool	getRightEye () const
	Check whether the right eye (the right line tracker) is seeing non-black color.
bool	getCenterEye () const
	Check whether the center eye (the center line tracker) is seeing non-black color.
Color	getColor ()
	Return the current color.
const char *	getColorName (Color c) const
	Translate the given color code into a textual name.
void	getRawColor (uint16_t *rr, uint16_t *rg, uint16_t *rb, uint16_t *rc)
	Get raw color readings from the color sensor.
Color	getColor (uint16_t rr, uint16_t rg, uint16_t rb, uint16_t rc) const
	Estimate the color from the given raw values.
void	calibrateColor (uint16_t black_r, uint16_t black_g, uint16_t black_b, uint16_t black_c, uint16_t white_r, uint16_t white_g, uint16_t white_b, uint16_t white_c, uint16_t red_r, uint16_t red_g, uint16_t red_b, uint16_t red_c, uint16_t green_r, uint16_t green_g, uint16_t green_b, uint16_t green_c, uint16_t blue_r, uint16_t blue_g, uint16_t blue_b, uint16_t blue_c, uint16_t yellow_r, uint16_t yellow_g, uint16_t yellow_b, uint16_t yellow_c, uint16_t magenta_r, uint16_t magenta_g, uint16_t magenta_b, uint16_t magenta_c)
	Calibrate the color sensor.
int8_t	getPitch () const
	Return the current rotation angle of the Corobot along the pitch axis.
int8_t	getRoll () const
	Return the current rotation angle of the Corobot along the roll axis.
void	getRawAccel (uint16_t *ax, uint16_t *ay, uint16_t *az)
	Obtain the raw accelerometer's readings.
int8_t	getPitch (uint16_t ax, uint16_t ay, uint16_t az) const
	Calculate the rotation angle of the Corobot along the pitch axis using the specified raw acceleration values.
int8_t	getRoll (uint16_t ax, uint16_t ay, uint16_t az) const
	Calculate the rotation angle of the Corobot along the roll axis using the specified raw acceleration values.
void	calibrateAccel ()
	Calibrate the accelerometer as "leveled" using the current readings.
void	calibrateAccel (uint16_t ax, uint16_t ay, uint16_t az)
	Calibrate the accelerometer as "leveled" using the specified acceleration values.
void	setLed (Color c, bool state)
	Set the state of the specified LED on the basic I/O board.
void	setLedValue (uint8_t value)
	Set the LEDs on the basic I/O board to represent the binary of the specified value.
void	setRightLed (bool state)
	Set the state of the right LED (the green TX LED) on the controller board.
void	setLeftLed (bool state)
	Set the state of the left LED (the yellow RX LED) on the controller board.
bool	switchPressed () const
	Check whether the switch on the basic I/O board is currently pressed.
void	waitSwitchPress () const
	Wait until the switch on the basic I/O board is pressed.
void	waitSwitchRelease () const
	Wait until the switch on the basic I/O board is released.
void	waitRemote () const
	Wait until the remote Corobot is connected via Bluetooth.
Public Attributes
HardwareSerial &	remote = Serial1
	Serial object reference for communicating with the remote Corobot via Bluetooth.

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Detailed Description

Class definition for creating a Corobot controller object.

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Member Function Documentation

void CorobotC::setLeftMotor	(	Direction	dir,
		uint8_t	power
	)		const

Set power and direction for the left motor.

Parameters:

dir	FORWARD|BACKWARD Direction of the left motor
power	0-100 Power of the left motor

If calibrateMotors() has been used,the actual power of the motor will be adjusted by the previously specified power percentage.

void CorobotC::setRightMotor	(	Direction	dir,
		uint8_t	power
	)		const

Set power and direction for the right motor.

Parameters:

dir	FORWARD|BACKWARD Direction of the right motor
power	0-100 Power of the right motor

If calibrateMotors() has been used,the actual power of the motor will be adjusted by the previously specified power percentage.

void CorobotC::setMotors	(	Direction	dir_l,
		uint8_t	power_l,
		Direction	dir_r,
		uint8_t	power_r
	)

Set powers and directions for both motors.

If calibrateMotors() has been previously called, the actual power of each motor will be normalized by the corresponding power percentage.

Parameters:

dir_l	FORWARD|BACKWARD Direction of the left motor
dir_r	FORWARD|BACKWARD Direction of the right motor
power_l	0-100 Power of the left motor
power_r	0-100 Power of the right motor

void CorobotC::calibrateMotors	(	uint8_t	leftMotorPercent,
		uint8_t	rightMotorPercent
	)

Calibrate motors.

The power percentages will be used to adjust the actual motors' powers when calling setLeftMotor(), setRightMotor(), and setMotors()

Parameters:

leftMotorPercent	Power percentage adjustment to be applied to the left motor
rightMotorPercent	Power percentage adjustment to be applied to the right motor

bool CorobotC::getLeftEye

(

)

const

Check whether the left eye (the left line tracker) is seeing non-black color.

Return values:

true	the left eye is on top of a non-black color floor
false	the left eye is on top of a black floor

bool CorobotC::getRightEye

(

)

const

Check whether the right eye (the right line tracker) is seeing non-black color.

Return values:

true	the right eye is on top of a non-black color floor
false	the right eye is on top of a black floor

bool CorobotC::getCenterEye

(

)

const

Check whether the center eye (the center line tracker) is seeing non-black color.

Return values:

true	the center eye is on top of a non-black color floor
false	the center eye is on top of a black floor

Color CorobotC::getColor

(

)

Return the current color.

Color recognition is done by comparing the current raw color readings with the calibrated values indicated by the most recent call to calibrateColor(). The closest color is returned.

Returns:

Color code representing the recognized color on the floor.

const char * CorobotC::getColorName

(

Color

c

)

const

Translate the given color code into a textual name.

Parameters:

c	Color code

Returns:

String containing the corresponding textual color name

void CorobotC::getRawColor	(	uint16_t *	r,
		uint16_t *	g,
		uint16_t *	b,
		uint16_t *	c
	)

Get raw color readings from the color sensor.

Parameters:

r	Pointer to 16-bit unsigned integer to store raw red intensity reading
g	Pointer to 16-bit unsigned integer to store raw green intensity reading
b	Pointer to 16-bit unsigned integer to store raw blue intensity reading
c	Pointer to 16-bit unsigned integer to store raw clear intensity reading

Color CorobotC::getColor	(	uint16_t	rr,
		uint16_t	rg,
		uint16_t	rb,
		uint16_t	rc
	)		const

Estimate the color from the given raw values.

Parameters:

rr	Raw red intensity value
rg	Raw green intensity value
rb	Raw blue intensity value
rc	Raw clear intensity value

Returns:

Corresponding color code recognized from the specified raw values

void CorobotC::calibrateColor	(	uint16_t	black_r,
		uint16_t	black_g,
		uint16_t	black_b,
		uint16_t	black_c,
		uint16_t	white_r,
		uint16_t	white_g,
		uint16_t	white_b,
		uint16_t	white_c,
		uint16_t	red_r,
		uint16_t	red_g,
		uint16_t	red_b,
		uint16_t	red_c,
		uint16_t	green_r,
		uint16_t	green_g,
		uint16_t	green_b,
		uint16_t	green_c,
		uint16_t	blue_r,
		uint16_t	blue_g,
		uint16_t	blue_b,
		uint16_t	blue_c,
		uint16_t	yellow_r,
		uint16_t	yellow_g,
		uint16_t	yellow_b,
		uint16_t	yellow_c,
		uint16_t	magenta_r,
		uint16_t	magenta_g,
		uint16_t	magenta_b,
		uint16_t	magenta_c
	)

Calibrate the color sensor.

These values will be used by the getColor() method for computing closest matching color.

Parameters:

black_r,black_g,black_b,black_c	Raw color sensor readings when the sensor is on black color
white_r,white_g,white_b,white_c	Raw color sensor readings when the sensor is on white color
red_r,red_g,red_b,red_c	Raw color sensor readings when the sensor is on red color
green_r,green_g,green_b,green_c	Raw color sensor readings when the sensor is on green color
blue_r,blue_g,blue_b,blue_c	Raw color sensor readings when the sensor is on blue color
yellow_r,yellow_g,yellow_b,yellow_c	Raw color sensor readings when the sensor is on yellow color
magenta_r,magenta_g,magenta_b,magenta_c	Raw color sensor readings when the sensor is on magenta color

int8_t CorobotC::getPitch

(

)

const

Return the current rotation angle of the Corobot along the pitch axis.

Returns:

Pitch angle in degrees between -20 and 20

Return values:

0	The Corobot is leveled with respect to the pitch axis
>0	The Corobot's nose is pointing downward
<0	The Corobot's nose is pointing upward

int8_t CorobotC::getRoll

(

)

const

Return the current rotation angle of the Corobot along the roll axis.

Returns:

Roll angle in degrees between -20 and 20

Return values:

0	The Corobot is leveled with respect to the roll axis
>0	The Corobot is banking right
<0	The Corobot is banking left

void CorobotC::getRawAccel	(	uint16_t *	ax,
		uint16_t *	ay,
		uint16_t *	az
	)

Obtain the raw accelerometer's readings.

Parameters:

ax	Pointer to a location for storing x-axis acceleration
ay	Pointer to a location for storing y-axis acceleration
az	Pointer to a location for storing z-axis acceleration

int8_t CorobotC::getPitch	(	uint16_t	ax,
		uint16_t	ay,
		uint16_t	az
	)		const

Calculate the rotation angle of the Corobot along the pitch axis using the specified raw acceleration values.

Parameters:

ax,ay,az

Accelerometer reading on the X, Y and Z axes, respectively

Returns:

Pitch angle in degrees, similar to getRoll()

int8_t CorobotC::getRoll	(	uint16_t	ax,
		uint16_t	ay,
		uint16_t	az
	)		const

Calculate the rotation angle of the Corobot along the roll axis using the specified raw acceleration values.

Parameters:

ax,ay,az

Accelerometer reading on the X, Y and Z axes, respectively

Returns:

Roll angle in degrees, similar to getPitch()

void CorobotC::calibrateAccel	(	uint16_t	ax,
		uint16_t	ay,
		uint16_t	az
	)

Calibrate the accelerometer as "leveled" using the specified acceleration values.

Parameters:

ax	Acceleration value on the x-axis
ay	Acceleration value on the y-axis
az	Acceleration value on the z-axis

void CorobotC::setLed	(	Color	c,
		bool	state
	)

Set the state of the specified LED on the basic I/O board.

Parameters:

c	Color code of the LED, which can be either RED, YELLOW, or GREEN. Requests to set other colors will be silently ignored.
state	true to turn the specified LED on; false to turn off

void CorobotC::setLedValue

(

uint8_t

value

)

Set the LEDs on the basic I/O board to represent the binary of the specified value.

Parameters:

value

Value to be interpreted as binary. Only the 3 least significant bits will be used.

void CorobotC::setRightLed

(

bool

state

)

Set the state of the right LED (the green TX LED) on the controller board.

Parameters:

state

true to turn the LED on; false to turn off

void CorobotC::setLeftLed

(

bool

state

)

Set the state of the left LED (the yellow RX LED) on the controller board.

Parameters:

state

true to turn the LED on; false to turn off

bool CorobotC::switchPressed

(

)

const

Check whether the switch on the basic I/O board is currently pressed.

Return values:

true	the switch is pressed.
false	the switch is not pressed.

void CorobotC::waitSwitchPress

(

)

const

Wait until the switch on the basic I/O board is pressed.

If the switch is currently pressed, this function will return immediately

void CorobotC::waitSwitchRelease

(

)

const

Wait until the switch on the basic I/O board is released.

If the switch is currently released, this function will return immediately

void CorobotC::waitRemote

(

)

const

Wait until the remote Corobot is connected via Bluetooth.

Make sure that both Corobots call this same function during setup(). While calling this function, the special character '#' will be sent continuously to the remote Corobot. At the same time, the local Corobot is also expecting a '#' from the remote.

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Member Data Documentation

HardwareSerial& CorobotC::remote = Serial1

Serial object reference for communicating with the remote Corobot via Bluetooth.

It has exactly the same API as Arduino's Serial object (https://www.arduino.cc/en/Reference/Serial).

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The documentation for this class was generated from the following files:

• Corobot.h
• Corobot.cpp