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Fixed robot libraries and examples for unified Arduino core

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This commit is contained in:
Xun Yang
2013-08-21 23:04:42 +02:00
parent 293e46bfb4
commit ec31a2ee5c
34 changed files with 2984 additions and 243 deletions
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12
libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp
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@ -230,16 +230,20 @@ void RobotMotorBoard::_analogRead(uint8_t codename){
messageOut.sendData();
}
int RobotMotorBoard::IRread(uint8_t num){
IRs.selectPin(num-1); //To make consistant with the pins labeled on the board
return _IRread(num-1); //To make consistant with the pins labeled on the board
}
int RobotMotorBoard::_IRread(uint8_t num){
IRs.selectPin(num);
return IRs.getAnalogValue();
}
void RobotMotorBoard::_readIR(){
//Serial.println("readIR");
int value;
messageOut.writeByte(COMMAND_READ_IR_RE);
for(int i=1;i<6;i++){
value=IRread(i);
for(int i=0;i<5;i++){
value=_IRread(i);
messageOut.writeInt(value);
}
messageOut.sendData();

1
libraries/Robot_Motor/ArduinoRobotMotorBoard.h
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@ -105,6 +105,7 @@ class RobotMotorBoard:public LineFollow{
void _digitalWrite(uint8_t codename, bool value);
void _analogRead(uint8_t codename);
void _digitalRead(uint8_t codename);
int _IRread(uint8_t num);
void _readIR();
void _readTrim();

2
libraries/Robot_Motor/LineFollow.h
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@ -19,7 +19,7 @@ class LineFollow{
//virtual void motorsWrite(int speedL, int speedR)=0;
virtual void motorsWritePct(int speedLpct, int speedRpct)=0;
virtual void motorsStop()=0;
virtual int IRread(uint8_t num)=0;
virtual int _IRread(uint8_t num)=0;
protected:
virtual void reportActionDone()=0;

2
libraries/Robot_Motor/examples/Robot_IR_Array_Test/Robot_IR_Array_Test.ino
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@ -19,7 +19,7 @@ void setup(){
void loop(){
bar=String(""); // empty the string
// read the sensors and add them to the string
bar=bar+RobotMotor.readIR(0)+' '+RobotMotor.readIR(1)+' '+RobotMotor.readIR(2)+' '+RobotMotor.readIR(3)+' '+RobotMotor.readIR(4);
bar=bar+RobotMotor.IRread(1)+' '+RobotMotor.IRread(2)+' '+RobotMotor.IRread(3)+' '+RobotMotor.IRread(4)+' '+RobotMotor.IRread(5);
// print out the values
Serial.println(bar);
delay(100);

4
libraries/Robot_Motor/lineFollow.cpp
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@ -79,7 +79,7 @@ void LineFollow::calibIRs(){
void LineFollow::runLineFollow(){
for(int count=0; count<5; count++)
{
lectura_sensor[count]=map(IRread(count),sensor_negro[count],sensor_blanco[count],0,127);
lectura_sensor[count]=map(_IRread(count),sensor_negro[count],sensor_blanco[count],0,127);
acu+=lectura_sensor[count];
}
@ -135,7 +135,7 @@ void LineFollow::ajusta_niveles()
int lectura=0;
for(int count=0; count<5; count++){
lectura=IRread(count);
lectura=_IRread(count);
if (lectura > sensor_blanco[count])
sensor_blanco[count]=lectura;