Facilitates communication with the iRobot (R) Create (TM) More...

#include <create.hpp>

Public Types
enum	Mode { OffMode, PassiveMode, SafeMode, FullMode }

enum	BaudRate { Baud57600 = 0, Baud115200 = 1 }

Public Member Functions
	~Create ()

bool	connect ()

bool	connect (const BaudRate baudRate)

bool	disconnect ()

bool	isConnected () const

void	setOffMode ()

void	setPassiveMode ()

void	setSafeMode ()

void	setFullMode ()

void	setMode (const Create::Mode &mode)

Create::Mode	mode ()

void	send (const CreateScript &script)

bool	write (const unsigned char &c)

bool	write (const unsigned char *data, const size_t &len)

void	flush ()

short	read ()

int	read (unsigned char *data, const size_t &len)

bool	blockingRead (unsigned char *data, const size_t &size, unsigned timeout=25)

template<typename T >
bool	blockingRead (T &data, unsigned timeout=0)

void	setLeds (const bool &advance, const bool &play, const unsigned char &color, const unsigned char &brightness)

void	drive (const short &velocity, const short &radius)

void	driveDirect (const short &left, const short &right)

void	driveStraight (const short &speed)

void	stop ()

void	turn (const short &angle, const unsigned short &speed)

void	move (const short &millimeters, const unsigned short &speed)

void	spin (const short &speed)

short	angularVelocity () const

void	spinClockwise (const short &speed)

void	spinCounterClockwise (const short &speed)

bool	setBaudRate (const unsigned char &baudCode)

void	setDistance (const int distance)

void	setAngle (const int angle)

AbstractButton *	playButton () const

AbstractButton *	advanceButton () const

Sensor< bool > *	wall () const

Sensor< bool > *	cliffLeft () const

Sensor< bool > *	cliffFrontLeft () const

Sensor< bool > *	cliffFrontRight () const

Sensor< bool > *	cliffRight () const

Sensor< bool > *	virtualWall () const

Sensor< unsigned short > *	wallSignal () const

Sensor< unsigned short > *	cliffLeftSignal () const

Sensor< unsigned short > *	cliffFrontLeftSignal () const

Sensor< unsigned short > *	cliffFrontRightSignal () const

Sensor< unsigned short > *	cliffRightSignal () const

Sensor< unsigned short > *	cargoBayAnalogSignal () const

Sensor< unsigned char > *	cargoBayDigitalInputs () const

Sensor< unsigned char > *	ir () const

Sensor< unsigned char > *	chargingState () const

Sensor< char > *	batteryTemperature () const

Sensor< unsigned short > *	batteryCharge () const

Sensor< unsigned short > *	batteryCapacity () const

Sensor< int > *	angle () const

Sensor< int > *	distance () const

Sensor< bool > *	bumpLeft () const

Sensor< bool > *	bumpRight () const

Sensor< bool > *	wheelDropLeft () const

Sensor< bool > *	wheelDropRight () const

Sensor< bool > *	wheelDropCaster () const

Sensor< bool > *	lightBumpLeft () const

Sensor< bool > *	lightBumpFrontLeft () const

Sensor< bool > *	lightBumpCenterLeft () const

Sensor< bool > *	lightBumpCenterRight () const

Sensor< bool > *	lightBumpFrontRight () const

Sensor< bool > *	lightBumpRight () const

Sensor< unsigned short > *	lightBumpLeftSignal () const

Sensor< unsigned short > *	lightBumpFrontLeftSignal () const

Sensor< unsigned short > *	lightBumpCenterLeftSignal () const

Sensor< unsigned short > *	lightBumpCenterRightSignal () const

Sensor< unsigned short > *	lightBumpFrontRightSignal () const

Sensor< unsigned short > *	lightBumpRightSignal () const

void	setRefreshRate (const unsigned short &refreshRate)

const unsigned short &	refreshRate () const

const CreateState *	state ()

const CreatePackets::_1 *	sensorPacket1 ()

const CreatePackets::_2 *	sensorPacket2 ()

const CreatePackets::_3 *	sensorPacket3 ()

const CreatePackets::_4 *	sensorPacket4 ()

const CreatePackets::_5 *	sensorPacket5 ()

const CreatePackets::_101 *	sensorPacket101 ()

void	beginAtomicOperation ()

void	endAtomicOperation ()

void	setDefaultBaudRate (const BaudRate defaultBaudRate)

BaudRate	defaultBaudRate () const

Static Public Member Functions
static Create *	instance ()

Detailed Description

Facilitates communication with the iRobot (R) Create (TM)

Provides high level bindings for a significant majority of the iRobot Open Interface specification.

Author: Braden McDorman

Member Enumeration Documentation

enum Create::BaudRate

Enumerator
Baud57600
Baud115200

enum Create::Mode

The "Mode" of the create.

PassiveMode: No movement allowed.
SafeMode: Movement is allowed, but the Create will stop if it's safety sensors are activated.
FullMode: All movement is allowed, even if it is considered dangerous. This mode is recommended for Botball.

Enumerator
OffMode
PassiveMode
SafeMode
FullMode

Constructor & Destructor Documentation

Create::~Create ( )

Member Function Documentation

AbstractButton* Create::advanceButton ( ) const

Sensor<int>* Create::angle ( ) const

short Create::angularVelocity ( ) const

Returns the current angular velocity of the create. This value is positive for counter-clockwise velocity and negative for clockwise velocity.

Returns: angular velocity of the create, between 0 and 1000 mm/s

Sensor<unsigned short>* Create::batteryCapacity ( ) const

Sensor<unsigned short>* Create::batteryCharge ( ) const

Sensor<char>* Create::batteryTemperature ( ) const

void Create::beginAtomicOperation ( )

inline

bool Create::blockingRead	(	unsigned char *	data,
		const size_t &	size,
		unsigned	timeout = `25`
	)

Reads until the specified number of bytes have been read.

Parameters

data	Pointer to the buffer to read into
size	Number of bytes to be read

Returns: true if reading succeeded, false if there was an error

This function is blocking.

template<typename T >

bool Create::blockingRead	(	T &	data,
		unsigned	timeout = `0`
	)

inline

Sensor<bool>* Create::bumpLeft ( ) const

Sensor<bool>* Create::bumpRight ( ) const

Sensor<unsigned short>* Create::cargoBayAnalogSignal ( ) const

Sensor<unsigned char>* Create::cargoBayDigitalInputs ( ) const

Sensor<unsigned char>* Create::chargingState ( ) const

Sensor<bool>* Create::cliffFrontLeft ( ) const

Sensor<unsigned short>* Create::cliffFrontLeftSignal ( ) const

Sensor<bool>* Create::cliffFrontRight ( ) const

Sensor<unsigned short>* Create::cliffFrontRightSignal ( ) const

Sensor<bool>* Create::cliffLeft ( ) const

Sensor<unsigned short>* Create::cliffLeftSignal ( ) const

Sensor<bool>* Create::cliffRight ( ) const

Sensor<unsigned short>* Create::cliffRightSignal ( ) const

bool Create::connect ( )

Attempts to establish a connection to the create

Returns: true if connection succeeded, false if connection failed

See also: disconnect; isConnected

bool Create::connect ( const BaudRate baudRate )

Attempts to establish a connection to the create

Parameters

baudRate The desired communication speed with the Create 1 or 2

Returns: true if connection succeeded, false if connection failed

See also: disconnect; isConnected

BaudRate Create::defaultBaudRate ( ) const

inline

References PI.

bool Create::disconnect ( )

Cleans up connection to the create

Returns: true if disconnected, false otherwise

See also: connect; isConnected

Sensor<int>* Create::distance ( ) const

void Create::drive	(	const short &	velocity,
		const short &	radius
	)

void Create::driveDirect	(	const short &	left,
		const short &	right
	)

void Create::driveStraight ( const short & speed )

void Create::endAtomicOperation ( )

inline

void Create::flush ( )

static Create* Create::instance ( )

static

The Create class is a singleton, which means that you cannot instantiate it directly. To get an instance of the create, you must use this method.

Returns: The global instance of the Create class

Sensor<unsigned char>* Create::ir ( ) const

bool Create::isConnected ( ) const

Returns: true if connected, false if not connected

See also: connect; disconnect

Sensor<bool>* Create::lightBumpCenterLeft ( ) const

Sensor<unsigned short>* Create::lightBumpCenterLeftSignal ( ) const

Sensor<bool>* Create::lightBumpCenterRight ( ) const

Sensor<unsigned short>* Create::lightBumpCenterRightSignal ( ) const

Sensor<bool>* Create::lightBumpFrontLeft ( ) const

Sensor<unsigned short>* Create::lightBumpFrontLeftSignal ( ) const

Sensor<bool>* Create::lightBumpFrontRight ( ) const

Sensor<unsigned short>* Create::lightBumpFrontRightSignal ( ) const

Sensor<bool>* Create::lightBumpLeft ( ) const

Sensor<unsigned short>* Create::lightBumpLeftSignal ( ) const

Sensor<bool>* Create::lightBumpRight ( ) const

Sensor<unsigned short>* Create::lightBumpRightSignal ( ) const

Create::Mode Create::mode ( )

void Create::move	(	const short &	millimeters,
		const unsigned short &	speed
	)

A very accurate move method based on time rather than the create's own readings, which are often less than accurate.

Parameters

millimeters	The amount to move, in millimeters.
speed	The speed each wheel should move at, in mm/s.

This function is blocking.

AbstractButton* Create::playButton ( ) const

short Create::read ( )

Reads one byte.

Returns: The read byte, or less than zero on error.

int Create::read	(	unsigned char *	data,
		const size_t &	len
	)

Reads a maximum of len bytes.

Parameters

data	Pointer to the buffer to read into.
len	Maxiumum number of bytes to read. Should be less than or equal to the size of data.

Returns: The number of bytes actually read, or less than zero on error.

const unsigned short& Create::refreshRate ( ) const

void Create::send ( const CreateScript & script )

const CreatePackets::_1* Create::sensorPacket1 ( )

const CreatePackets::_101* Create::sensorPacket101 ( )

const CreatePackets::_2* Create::sensorPacket2 ( )

const CreatePackets::_3* Create::sensorPacket3 ( )

const CreatePackets::_4* Create::sensorPacket4 ( )

const CreatePackets::_5* Create::sensorPacket5 ( )

void Create::setAngle ( const int angle )

bool Create::setBaudRate ( const unsigned char & baudCode )

void Create::setDefaultBaudRate ( const BaudRate defaultBaudRate )

inline

void Create::setDistance ( const int distance )

void Create::setFullMode ( )

void Create::setLeds	(	const bool &	advance,
		const bool &	play,
		const unsigned char &	color,
		const unsigned char &	brightness
	)

void Create::setMode ( const Create::Mode & mode )

void Create::setOffMode ( )

void Create::setPassiveMode ( )

void Create::setRefreshRate ( const unsigned short & refreshRate )

void Create::setSafeMode ( )

void Create::spin ( const short & speed )

Spin the create at a constant velocity.

Parameters

speed The speed each motor should move at. Positive is counter-clockwise.

void Create::spinClockwise ( const short & speed )

void Create::spinCounterClockwise ( const short & speed )

const CreateState* Create::state ( )

void Create::stop ( )

void Create::turn	(	const short &	angle,
		const unsigned short &	speed
	)

A very accurate turn method based on time rather than the create's own readings, which are often less than accurate.

Parameters

angle	The angle to turn, in degrees. Positive is counter-clockwise.
speed	The speed each wheel should move at, in mm/s. The angular velocity will be double this value.

This function is blocking.

Sensor<bool>* Create::virtualWall ( ) const

Sensor<bool>* Create::wall ( ) const

Sensor<unsigned short>* Create::wallSignal ( ) const

Sensor<bool>* Create::wheelDropCaster ( ) const

Sensor<bool>* Create::wheelDropLeft ( ) const

Sensor<bool>* Create::wheelDropRight ( ) const

bool Create::write ( const unsigned char & c )

bool Create::write	(	const unsigned char *	data,
		const size_t &	len
	)

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

include/wallaby/create.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation