00001 /*!@file Roomba.H Simple roomba class to interact with irobot create */ 00002 00003 //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00005 // University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Farhan Baluch <fbaluch@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/IRobot/Roomba.H $ 00035 // $Id: Roomba.H 12962 2010-03-06 02:13:53Z irock $ 00036 // 00037 00038 #ifndef ROOMBA_H_DEFINED 00039 #define ROOMBA_H_DEFINED 00040 00041 #include "Component/ModelComponent.H" 00042 #include "Component/ModelParam.H" 00043 #include "Util/Types.H" 00044 00045 class Serial; 00046 00047 class Roomba : public ModelComponent 00048 { 00049 public: 00050 00051 //!Default constructor 00052 Roomba(OptionManager& mgr, const std::string& descrName ="Roomba", 00053 const std::string& tagName ="Roomba", 00054 const char *defdev = "/dev/ttyUSB0"); 00055 00056 //!Destructor 00057 ~Roomba(); 00058 00059 00060 int getSpeed(); 00061 int getAngle(); 00062 int getRadius(); 00063 int getDist(); 00064 void setSpeed(const int speed); 00065 void setRadius(const int radius); 00066 void sendRawCmd(const std::string& data); 00067 void playSong(int song); 00068 void sendStart(); 00069 void setMode(const int mode); //safemode =1, fullmode=2 00070 void setDemo(const short demo); 00071 void setLED(const short led, const short color, const short intensity); 00072 void getDistanceAngle(int& dist, int& ang); 00073 //!Send the command to drive the robot 00074 void sendDriveCommand(); 00075 //!Send the command to direct drive the robot 00076 void sendDirectDriveCommand(float steering); 00077 00078 00079 protected: 00080 00081 int itsSpeed; //!current speed 00082 int itsRadius; //!current turning radius set 00083 int itsAngle; //!total angle turned since start 00084 int itsDist; //!total dist travelled since start 00085 bool robotStarted; //!robot start status must be true to send commands 00086 nub::soft_ref<Serial> itsPort; //!Serial port to use 00087 //Serial itsPort; 00088 00089 }; 00090 00091 00092 #endif 00093 00094 // ###################################################################### 00095 /* So things look consistent in everyone's emacs... */ 00096 /* Local Variables: */ 00097 /* indent-tabs-mode: nil */ 00098 /* End: */
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