23 #ifndef CREATE_COMMS_H 24 #define CREATE_COMMS_H 33 #define CREATE_OPCODE_START 128 34 #define CREATE_OPCODE_BAUD 129 35 #define CREATE_OPCODE_SAFE 131 36 #define CREATE_OPCODE_FULL 132 37 #define CREATE_OPCODE_SPOT 134 38 #define CREATE_OPCODE_COVER 135 39 #define CREATE_OPCODE_DEMO 136 40 #define CREATE_OPCODE_DRIVE 137 41 #define CREATE_OPCODE_MOTORS 138 42 #define CREATE_OPCODE_LEDS 139 43 #define CREATE_OPCODE_SONG 140 44 #define CREATE_OPCODE_PLAY 141 45 #define CREATE_OPCODE_SENSORS 142 46 #define CREATE_OPCODE_COVERDOCK 143 47 #define CREATE_OPCODE_PWM_MOTORS 144 48 #define CREATE_OPCODE_DRIVE_WHEELS 145 49 #define CREATE_OPCODE_DIGITAL_OUTPUTS 147 50 #define CREATE_OPCODE_STREAM 148 51 #define CREATE_OPCODE_QUERY_LIST 149 52 #define CREATE_OPCODE_DO_STREAM 150 53 #define CREATE_OPCODE_SEND_IR_CHAR 151 54 #define CREATE_OPCODE_SCRIPT 152 55 #define CREATE_OPCODE_PLAY_SCRIPT 153 56 #define CREATE_OPCODE_SHOW_SCRIPT 154 57 #define CREATE_OPCODE_WAIT_TIME 155 58 #define CREATE_OPCODE_WAIT_DISTANCE 156 59 #define CREATE_OPCODE_WAIT_ANGLE 157 60 #define CREATE_OPCODE_WAIT_EVENT 158 63 #define CREATE_DELAY_MODECHANGE_MS 20 65 #define CREATE_MODE_OFF 0 66 #define CREATE_MODE_PASSIVE 1 67 #define CREATE_MODE_SAFE 2 68 #define CREATE_MODE_FULL 3 70 #define CREATE_TVEL_MAX_MM_S 500 71 #define CREATE_RADIUS_MAX_MM 2000 73 #define CREATE_SENSOR_PACKET_SIZE 26 75 #define CREATE_CHARGING_NOT 0 76 #define CREATE_CHARGING_RECOVERY 1 77 #define CREATE_CHARGING_CHARGING 2 78 #define CREATE_CHARGING_TRICKLE 3 79 #define CREATE_CHARGING_WAITING 4 80 #define CREATE_CHARGING_ERROR 5 82 #define CREATE_AXLE_LENGTH 0.258 84 #define CREATE_DIAMETER 0.33 86 #define CREATE_BUMPER_XOFFSET 0.05 89 #define MIN(a,b) ((a < b) ? (a) : (b)) 92 #define MAX(a,b) ((a > b) ? (a) : (b)) 95 #define NORMALIZE(z) atan2(sin(z), cos(z)) 101 char serial_port[PATH_MAX];
111 int bumper_left, bumper_right;
112 unsigned char wheeldrop_caster, wheeldrop_left, wheeldrop_right;
114 unsigned char cliff_left, cliff_frontleft, cliff_frontright, cliff_right;
115 unsigned char virtual_wall;
116 unsigned char overcurrent_driveleft, overcurrent_driveright;
117 unsigned char overcurrent_mainbrush, overcurrent_sidebrush;
118 unsigned char overcurrent_vacuum;
119 unsigned char dirtdetector_right, dirtdetector_left;
120 unsigned char remote_opcode;
121 unsigned char button_power, button_spot, button_clean, button_max;
124 unsigned char charging_state;
139 int create_open(
create_comm_t* r,
unsigned char fullcontrol);
140 int create_init(
create_comm_t* r,
unsigned char fullcontrol);
142 int create_set_speeds(
create_comm_t* r,
double tv,
double rv);
144 unsigned char* buf,
size_t buflen);
148 int create_set_song(
create_comm_t* r,
unsigned char songNumber,
149 unsigned char songLength,
unsigned char *notes,
150 unsigned char *noteLengths);
151 int create_play_song(
create_comm_t *r,
unsigned char songNumber);
155 uint8_t clean, uint8_t spot, uint8_t status,
156 uint8_t power_color, uint8_t power_intensity );
Definition: create_comms.h:98
T max(T a, T b)
Return the maximum of a, b.
Definition: utility.h:104