kipr::create::Create Class Reference

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)
button::AbstractButton *	playButton () const
button::AbstractButton *	advanceButton () const
sensor::Sensor< bool > *	wall () const
sensor::Sensor< bool > *	cliffLeft () const
sensor::Sensor< bool > *	cliffFrontLeft () const
sensor::Sensor< bool > *	cliffFrontRight () const
sensor::Sensor< bool > *	cliffRight () const
sensor::Sensor< bool > *	virtualWall () const
sensor::Sensor< unsigned short > *	wallSignal () const
sensor::Sensor< unsigned short > *	cliffLeftSignal () const
sensor::Sensor< unsigned short > *	cliffFrontLeftSignal () const
sensor::Sensor< unsigned short > *	cliffFrontRightSignal () const
sensor::Sensor< unsigned short > *	cliffRightSignal () const
sensor::Sensor< unsigned short > *	cargoBayAnalogSignal () const
sensor::Sensor< unsigned char > *	cargoBayDigitalInputs () const
sensor::Sensor< unsigned char > *	ir () const
sensor::Sensor< unsigned char > *	chargingState () const
sensor::Sensor< char > *	batteryTemperature () const
sensor::Sensor< unsigned short > *	batteryCharge () const
sensor::Sensor< unsigned short > *	batteryCapacity () const
sensor::Sensor< int > *	angle () const
sensor::Sensor< int > *	distance () const
sensor::Sensor< bool > *	bumpLeft () const
sensor::Sensor< bool > *	bumpRight () const
sensor::Sensor< bool > *	wheelDropLeft () const
sensor::Sensor< bool > *	wheelDropRight () const
sensor::Sensor< bool > *	wheelDropCaster () const
sensor::Sensor< bool > *	lightBumpLeft () const
sensor::Sensor< bool > *	lightBumpFrontLeft () const
sensor::Sensor< bool > *	lightBumpCenterLeft () const
sensor::Sensor< bool > *	lightBumpCenterRight () const
sensor::Sensor< bool > *	lightBumpFrontRight () const
sensor::Sensor< bool > *	lightBumpRight () const
sensor::Sensor< unsigned short > *	lightBumpLeftSignal () const
sensor::Sensor< unsigned short > *	lightBumpFrontLeftSignal () const
sensor::Sensor< unsigned short > *	lightBumpCenterLeftSignal () const
sensor::Sensor< unsigned short > *	lightBumpCenterRightSignal () const
sensor::Sensor< unsigned short > *	lightBumpFrontRightSignal () const
sensor::Sensor< unsigned short > *	lightBumpRightSignal () const
sensor::Sensor< unsigned char > *	songPlaying () const
sensor::Sensor< unsigned char > *	songNumber () const
void	setRefreshRate (const unsigned short &refreshRate)
const unsigned short &	refreshRate () const
bool	loadSong (const unsigned char *song, const unsigned char length, const unsigned char songNum)
bool	playSong (const unsigned char songNum)
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

BaudRate

enum kipr::create::Create::BaudRate

Enumerator
Baud57600
Baud115200

Mode

enum kipr::create::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()

kipr::create::Create::~Create

(

)

Member Function Documentation

advanceButton()

button::AbstractButton* kipr::create::Create::advanceButton

(

)

const

angle()

sensor::Sensor<int>* kipr::create::Create::angle

(

)

const

angularVelocity()

short kipr::create::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

batteryCapacity()

sensor::Sensor<unsigned short>* kipr::create::Create::batteryCapacity

(

)

const

batteryCharge()

sensor::Sensor<unsigned short>* kipr::create::Create::batteryCharge

(

)

const

batteryTemperature()

sensor::Sensor<char>* kipr::create::Create::batteryTemperature

(

)

const

beginAtomicOperation()

void kipr::create::Create::beginAtomicOperation ( )

inline

blockingRead() [1/2]

template<typename T >

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

inline

blockingRead() [2/2]

bool kipr::create::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.

bumpLeft()

sensor::Sensor<bool>* kipr::create::Create::bumpLeft

(

)

const

bumpRight()

sensor::Sensor<bool>* kipr::create::Create::bumpRight

(

)

const

cargoBayAnalogSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::cargoBayAnalogSignal

(

)

const

cargoBayDigitalInputs()

sensor::Sensor<unsigned char>* kipr::create::Create::cargoBayDigitalInputs

(

)

const

chargingState()

sensor::Sensor<unsigned char>* kipr::create::Create::chargingState

(

)

const

cliffFrontLeft()

sensor::Sensor<bool>* kipr::create::Create::cliffFrontLeft

(

)

const

cliffFrontLeftSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::cliffFrontLeftSignal

(

)

const

cliffFrontRight()

sensor::Sensor<bool>* kipr::create::Create::cliffFrontRight

(

)

const

cliffFrontRightSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::cliffFrontRightSignal

(

)

const

cliffLeft()

sensor::Sensor<bool>* kipr::create::Create::cliffLeft

(

)

const

cliffLeftSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::cliffLeftSignal

(

)

const

cliffRight()

sensor::Sensor<bool>* kipr::create::Create::cliffRight

(

)

const

cliffRightSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::cliffRightSignal

(

)

const

connect() [1/2]

bool kipr::create::Create::connect

(

)

Attempts to establish a connection to the create

Returns

true if connection succeeded, false if connection failed

See also

disconnect

isConnected

connect() [2/2]

bool kipr::create::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

defaultBaudRate()

BaudRate kipr::create::Create::defaultBaudRate ( ) const

inline

disconnect()

bool kipr::create::Create::disconnect

(

)

Cleans up connection to the create

Returns

true if disconnected, false otherwise

See also

connect

isConnected

distance()

sensor::Sensor<int>* kipr::create::Create::distance

(

)

const

drive()

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

driveDirect()

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

driveStraight()

void kipr::create::Create::driveStraight

(

const short &

speed

)

endAtomicOperation()

void kipr::create::Create::endAtomicOperation ( )

inline

flush()

void kipr::create::Create::flush

(

)

instance()

static Create* kipr::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

ir()

sensor::Sensor<unsigned char>* kipr::create::Create::ir

(

)

const

isConnected()

bool kipr::create::Create::isConnected

(

)

const

Returns

true if connected, false if not connected

See also

connect

disconnect

lightBumpCenterLeft()

sensor::Sensor<bool>* kipr::create::Create::lightBumpCenterLeft

(

)

const

lightBumpCenterLeftSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::lightBumpCenterLeftSignal

(

)

const

lightBumpCenterRight()

sensor::Sensor<bool>* kipr::create::Create::lightBumpCenterRight

(

)

const

lightBumpCenterRightSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::lightBumpCenterRightSignal

(

)

const

lightBumpFrontLeft()

sensor::Sensor<bool>* kipr::create::Create::lightBumpFrontLeft

(

)

const

lightBumpFrontLeftSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::lightBumpFrontLeftSignal

(

)

const

lightBumpFrontRight()

sensor::Sensor<bool>* kipr::create::Create::lightBumpFrontRight

(

)

const

lightBumpFrontRightSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::lightBumpFrontRightSignal

(

)

const

lightBumpLeft()

sensor::Sensor<bool>* kipr::create::Create::lightBumpLeft

(

)

const

lightBumpLeftSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::lightBumpLeftSignal

(

)

const

lightBumpRight()

sensor::Sensor<bool>* kipr::create::Create::lightBumpRight

(

)

const

lightBumpRightSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::lightBumpRightSignal

(

)

const

mode()

Create::Mode kipr::create::Create::mode

(

)

move()

void kipr::create::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.

playButton()

button::AbstractButton* kipr::create::Create::playButton

(

)

const

read() [1/2]

short kipr::create::Create::read

(

)

Reads one byte.

Returns

The read byte, or less than zero on error.

read() [2/2]

int kipr::create::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.

refreshRate()

const unsigned short& kipr::create::Create::refreshRate

(

)

const

send()

void kipr::create::Create::send

(

const CreateScript &

script

)

sensorPacket1()

const CreatePackets::_1* kipr::create::Create::sensorPacket1

(

)

sensorPacket101()

const CreatePackets::_101* kipr::create::Create::sensorPacket101

(

)

sensorPacket2()

const CreatePackets::_2* kipr::create::Create::sensorPacket2

(

)

sensorPacket3()

const CreatePackets::_3* kipr::create::Create::sensorPacket3

(

)

sensorPacket4()

const CreatePackets::_4* kipr::create::Create::sensorPacket4

(

)

sensorPacket5()

const CreatePackets::_5* kipr::create::Create::sensorPacket5

(

)

setAngle()

void kipr::create::Create::setAngle

(

const int

angle

)

setBaudRate()

bool kipr::create::Create::setBaudRate

(

const unsigned char &

baudCode

)

setDefaultBaudRate()

void kipr::create::Create::setDefaultBaudRate ( const BaudRate  defaultBaudRate )

inline

setDistance()

void kipr::create::Create::setDistance

(

const int

distance

)

setFullMode()

void kipr::create::Create::setFullMode

(

)

setLeds()

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

setMode()

void kipr::create::Create::setMode

(

const Create::Mode &

mode

)

setOffMode()

void kipr::create::Create::setOffMode

(

)

setPassiveMode()

void kipr::create::Create::setPassiveMode

(

)

setRefreshRate()

void kipr::create::Create::setRefreshRate

(

const unsigned short &

refreshRate

)

setSafeMode()

void kipr::create::Create::setSafeMode

(

)

songNumber()

sensor::Sensor<unsigned char>* kipr::create::Create::songNumber

(

)

const

songPlaying()

sensor::Sensor<unsigned char>* kipr::create::Create::songPlaying

(

)

const

spin()

void kipr::create::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.

spinClockwise()

void kipr::create::Create::spinClockwise

(

const short &

speed

)

spinCounterClockwise()

void kipr::create::Create::spinCounterClockwise

(

const short &

speed

)

state()

const CreateState* kipr::create::Create::state

(

)

stop()

void kipr::create::Create::stop

(

)

turn()

void kipr::create::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.

virtualWall()

sensor::Sensor<bool>* kipr::create::Create::virtualWall

(

)

const

wall()

sensor::Sensor<bool>* kipr::create::Create::wall

(

)

const

wallSignal()

sensor::Sensor<unsigned short>* kipr::create::Create::wallSignal

(

)

const

wheelDropCaster()

sensor::Sensor<bool>* kipr::create::Create::wheelDropCaster

(

)

const

wheelDropLeft()

sensor::Sensor<bool>* kipr::create::Create::wheelDropLeft

(

)

const

wheelDropRight()

sensor::Sensor<bool>* kipr::create::Create::wheelDropRight

(

)

const

write() [1/2]

bool kipr::create::Create::write

(

const unsigned char &

c

)

write() [2/2]

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

---

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

• ~/libwallaby/module/create/public/kipr/create/create.hpp