LoCmdMain.c File Reference

Robolocust control program for the iRobot Create's Command Module. More...

#include "LoRemote.h"
#include "LoBumps.h"
#include "LoCliffs.h"
#include "LoDrive.h"
#include "LoSensors.h"
#include "LoBeep.h"
#include "LoUtils.h"
#include "LoIO.h"
#include "LoTimer.h"
#include "LoCMInterface.h"
#include "LoOpenInterface.h"
#include <avr/io.h>
#include <avr/interrupt.h>

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Classes
struct	CommandInfo
Defines
#define	LOBOT_CREATE_BOOT_DELAY   3500
#define	LOBOT_COMPUTER_TIMEOUT   250
#define	LOBOT_STARTUP_BEEP_DELAY   5000
#define	LOBOT_UPDATE_DELAY   50
#define	LOBOT_HEARTBEAT_INTERVAL   25
#define	ignore_high_level()   (lo_is_wheel_dropped() || lo_is_cliff_detected() || lo_is_remote_control())
#define	play_quit()
Typedefs
typedef void(*	CommandHandler )(int op)
Functions
static void	init_command_module (void)
static void	init_robot (void)
static void	init_open_interface (void)
static void	init_leds (void)
static void	react_to_sensors (void)
static void	send_pending_acks (void)
static char	bad_parity (char cmd[LOBOT_CMD_SIZE])
static void	execute (char cmd, int param)
int	main (void)
Variables
static const CommandInfo	g_command_map []
static const char	LOBOT_NUM_COMMANDS

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Detailed Description

Robolocust control program for the iRobot Create's Command Module.

This file defines the main function for a control program meant to be run on the iRobot Create's Command Module. This program is designed to listen to the Command Module's USB port for incoming motor commands from the higher (C++) layers of the lobot controller and convert them into the equivalent sequence of Open Interface opcode and operand bytes to be sent to the iRobot Create.

Definition in file LoCmdMain.c.

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Define Documentation

 

#define play_quit

(

)

Value:

((lo_get_sensor(LOBOT_SENSORS_BUTTONS) & LOBOT_OI_BUTTON_PLAY) == \
     LOBOT_OI_BUTTON_PLAY)

Definition at line 339 of file LoCmdMain.c.

---

Variable Documentation

const CommandInfo g_command_map[] [static]

Initial value:

 {
   {LOBOT_CMD_NOP,      &lo_nop},
   {LOBOT_CMD_FORWARD,  &lo_forward},
   {LOBOT_CMD_REVERSE,  &lo_reverse},
   {LOBOT_CMD_STOP,     &lo_stop},
   {LOBOT_CMD_LEFT,     &lo_left},
   {LOBOT_CMD_RIGHT,    &lo_right},
   {LOBOT_CMD_STRAIGHT, &lo_straight},
   {LOBOT_CMD_SPIN,     &lo_cmd_spin},
   {LOBOT_CMD_ENABLE_REAR_BUMPS,  &lo_enable_rear_bumps},
   {LOBOT_CMD_DISABLE_REAR_BUMPS, &lo_disable_rear_bumps},
}

Definition at line 101 of file LoCmdMain.c.

const char LOBOT_NUM_COMMANDS [static]

Initial value:

   sizeof(g_command_map)/sizeof(g_command_map[0])

Definition at line 117 of file LoCmdMain.c.