Converted Robot_Control files to unix format for better git diffs

libraries/Robot_Control/src/Motors.cpp

@@ -1 +1,113 @@
-#include "ArduinoRobot.h"
+#include "ArduinoRobot.h"
+#include "EasyTransfer2.h"
+
+
+void RobotControl::motorsStop(){
+	messageOut.writeByte(COMMAND_MOTORS_STOP);
+	messageOut.sendData();
+}
+void RobotControl::motorsWrite(int speedLeft,int speedRight){
+	messageOut.writeByte(COMMAND_RUN);
+	messageOut.writeInt(speedLeft);
+	messageOut.writeInt(speedRight);
+	messageOut.sendData();
+}
+void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){
+	int16_t speedLeft=255*speedLeftPct/100.0;
+	int16_t speedRight=255*speedRightPct/100.0;
+	motorsWrite(speedLeft,speedRight);
+}
+void RobotControl::pointTo(int angle){
+	int target=angle;
+	uint8_t speed=80;
+	target=target%360;
+	if(target<0){
+		target+=360;
+	}
+	int direction=angle;
+	while(1){
+		int currentAngle=compassRead();
+		int diff=target-currentAngle;
+		direction=180-(diff+360)%360;
+		if(direction>0){
+			motorsWrite(speed,-speed);//right
+			delay(10);
+		}else{
+			motorsWrite(-speed,speed);//left
+			delay(10);
+		}
+		//if(diff<-180) 
+		//	diff += 360;
+		//else if(diff> 180) 
+		//	diff -= 360;
+		//direction=-diff;
+		
+		if(abs(diff)<5){
+			motorsStop();
+			return;
+		}
+	}
+}
+void RobotControl::turn(int angle){
+	int originalAngle=compassRead();
+	int target=originalAngle+angle;
+	pointTo(target);
+	/*uint8_t speed=80;
+	target=target%360;
+	if(target<0){
+		target+=360;
+	}
+	int direction=angle;
+	while(1){
+		if(direction>0){
+			motorsWrite(speed,speed);//right
+			delay(10);
+		}else{
+			motorsWrite(-speed,-speed);//left
+			delay(10);
+		}
+		int currentAngle=compassRead();
+		int diff=target-currentAngle;
+		if(diff<-180) 
+			diff += 360;
+		else if(diff> 180) 
+			diff -= 360;
+		direction=-diff;
+		
+		if(abs(diff)<5){
+			motorsWrite(0,0);
+			return;
+		}
+	}*/
+}
+
+void RobotControl::moveForward(int speed){
+	motorsWrite(speed,speed);
+}
+void RobotControl::moveBackward(int speed){
+	motorsWrite(speed,speed);
+}
+void RobotControl::turnLeft(int speed){
+	motorsWrite(speed,255);
+}
+void RobotControl::turnRight(int speed){
+	motorsWrite(255,speed);
+}
+
+
+
+/*
+int RobotControl::getIRrecvResult(){
+	messageOut.writeByte(COMMAND_GET_IRRECV);
+	messageOut.sendData();
+	//delay(10);
+	while(!messageIn.receiveData());
+	
+	if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){
+		return messageIn.readInt();
+	}
+
+
+	return -1;
+}
+*/

libraries/Robot_Control/src/communication.cpp

@@ -1 +1,29 @@
-#include <ArduinoRobot.h>
+#include <ArduinoRobot.h>
+
+bool RobotControl::isActionDone(){
+	if(messageIn.receiveData()){
+		if(messageIn.readByte()==COMMAND_ACTION_DONE){
+			return true;
+		}
+	}
+	return false;
+}
+
+void RobotControl::pauseMode(uint8_t onOff){
+	messageOut.writeByte(COMMAND_PAUSE_MODE);
+	if(onOff){
+		messageOut.writeByte(true);
+	}else{
+		messageOut.writeByte(false);
+	}
+	messageOut.sendData();
+}
+
+void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
+	messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
+	messageOut.writeByte(KP);
+	messageOut.writeByte(KD);
+	messageOut.writeByte(robotSpeed);
+	messageOut.writeByte(intergrationTime);
+	messageOut.sendData();
+}