/// Entry point of application.
int main(){
//Pin connected to the rx pin of the Qik motor controller.
int qTx = 25;
//Pin connected to the tx pin of the Qik motor controller.
int qRx = 26;
//Baud rate used to communicate with the Qik motor controller.
int qBaud = 115200;
//Pin connected to the photointerrupter of the encoder on the left motor.
int ePin1 = 10;
//Pin connected to the photointerrupter of the encoder on the right motor.
int ePin2 = 11;
//Pin connected to the ultrasonic sensor at the front of the rosbee on the left side.
int ussPin1 = 5;
//Pin connected to the ultrasonic sensor at the front of the rosbee in the middle.
int ussPin2 = 6;
//Pin connected to the ultrasonic sensor at the front of the rosbee on the right side.
int ussPin3 = 7;
//Pin connected to the ultrasonic sensor at the back of the rosbee on the left side.
int ussPin4 = 8;
//Pin connected to the ultrasonic sensor at the back of the rosbee on the right side.
int ussPin5 = 4;
//Pin connected to the ultrasonic sensor at the back of hte rosbee int the middle.
int ussPin6 = 9;
//If you wish to send debug information to the console you need to make the propeller wait a sec.
//The propeller is faster then the startup of the console. This will result in data being missed.
//Uncomment while debugging.
//sleep(1);
//Uart object for communication.
Uart uart;
//Qik object for motor control.
Qik qik{qTx,qRx,qBaud};
//Stop motor 1.
//This is done so the rosbee won't drive away and/or stop while the
//program is rebooted.
qik.setMotorSpeed(Qik::Motor::M0,0);
//Stop motor 2.
//This is done so the rosbee won't drive away and/or stop while the
//program is rebooted.
qik.setMotorSpeed(Qik::Motor::M1,0);
//Encoder object for the left motor.
Encoder enc1{ePin1};
//Encoder object fot the right motor.
Encoder enc2{ePin2};
//Ultrasonic sensor object for the sensor front left.
UltraSonicSensor uss1(ussPin1);
//Ultrasonic sensor object for the sensor front middle.
UltraSonicSensor uss2(ussPin2);
//Ultrasonic sensor object for the sensor front right.
UltraSonicSensor uss3(ussPin3);
//Ultrasonic sensor object for the sensor back left.
UltraSonicSensor uss4(ussPin4);
//Ultrasonic sensor object for the sensor front right.
UltraSonicSensor uss5(ussPin5);
//Variables used for communcation.
//cmd = command byte received.
//value = follow byte received.
//rtn = byte to be send.
//intRtn = int(4 bytes) to be send.
//speed = motor speed (can be negative).
char cmd, value, rtn;
int intRtn;
signed char speed;
//Run forever.
//The rosbee is expected to work as long as it has power.
//Therefore this loop never needs to end.
while(true){
//Get the command byte.
//This will block if no byte is available.
cmd = uart.readChar();
//Check which command to execute.
//This is just a epic long switch case.
//There was honestly no better way to do this that does
//not require making infinite classes.
switch(cmd){
//Motors
//Commands regarding the motor controllers.
case PPP::SET_SPEED_M0:
speed = uart.readChar();
qik.setMotorSpeed(Qik::Motor::M0,speed);
break;
case PPP::SET_SPEED_M1:
speed = uart.readChar();
qik.setMotorSpeed(Qik::Motor::M1,speed);
break;
case PPP::SET_BRAKE_SPEED_M0:
value = uart.readChar();
qik.setBrakePower(Qik::Motor::M0,value);
break;
case PPP::SET_BRAKE_SPEED_M1:
value = uart.readChar();
qik.setBrakePower(Qik::Motor::M1,value);
break;
case PPP::GET_FIRMWARE_VERSION:
rtn = static_cast<char>(qik.getFirmwareVersion());
uart.send(rtn);
break;
case PPP::GET_ERROR:
rtn = static_cast<char>(qik.getError());
uart.send(rtn);
break;
//Encoders
//Commands regarding the encoders.
case PPP::GET_PULSE_COUNT_M0:
intRtn = enc1.getPulseCount();
uart.send(intRtn);
break;
case PPP::GET_PULSE_COUNT_M1:
intRtn = enc2.getPulseCount();
uart.send(intRtn);
break;
case PPP::GET_PULSE_SPEED_M0:
rtn = enc1.getSpeed();
uart.send(rtn);
break;
case PPP::GET_PULSE_SPEED_M1:
rtn = enc2.getSpeed();
uart.send(rtn);
break;
//Ultrasonic Sensors
//Commands regarding the ultrasonic sensors.
case PPP::GET_DISTANCE_S0:
intRtn = uss1.getDistance();
uart.send(intRtn);
break;
case PPP::GET_DISTANCE_S1:
intRtn = uss2.getDistance();
uart.send(intRtn);
break;
case PPP::GET_DISTANCE_S2:
intRtn = uss3.getDistance();
uart.send(intRtn);
break;
case PPP::GET_DISTANCE_S3:
intRtn = uss4.getDistance();
uart.send(intRtn);
break;
case PPP::GET_DISTANCE_S4:
intRtn = uss5.getDistance();
uart.send(intRtn);
break;
case PPP::GET_DISTANCE_S5:
intRtn = 0;
uart.send(intRtn);
break;
//Debug
//Commands regarding debugging.
case 'i':
break;
} // End switch.
} // End while.
//The program should never come here, but it's required by the compiler.
return 0;
}
