/// Initialize the Create
void oi_init(oi_t *self)
{
lcd_clear();
lcd_puts("Starting OI...");
// Setup USART1 to communicate to the iRobot Create using serial (baud = 57600)
UBRR1L = 16; // UBRR = (FOSC/16/BAUD-1);
UCSR1B = (1 << RXEN) | (1 << TXEN);
UCSR1C = (3 << UCSZ10);
// Starts the SCI. Must be sent first
oi_byte_tx(OI_OPCODE_START);
oi_byte_tx(OI_OPCODE_BAUD);
oi_byte_tx(8); // baud code for 28800
wait_ms(100);
// Set the baud rate on the Cerebot II to match the Create's baud
UBRR1L = 33; // UBRR = (FOSC/16/BAUD-1);
// Use Full mode, unrestricted control
oi_byte_tx(OI_OPCODE_FULL);
oi_set_leds(1, 1, 7, 255);
oi_update(self);
oi_update(self); // call twice to clear distance/angle
lcd_clear();
}
/// Drive wheels directly; speeds are in mm / sec
void oi_set_wheels(int16_t right_wheel, int16_t left_wheel) {
oi_byte_tx(OI_OPCODE_DRIVE_WHEELS);
oi_byte_tx(right_wheel>>8);
oi_byte_tx(right_wheel & 0xff);
oi_byte_tx(left_wheel>>8);
oi_byte_tx(left_wheel& 0xff);
}
/// Loads a song onto the iRobot Create
void oi_load_song(int song_index, int num_notes, unsigned char *notes, unsigned char *duration) {
int i;
oi_byte_tx(OI_OPCODE_SONG);
oi_byte_tx(song_index);
oi_byte_tx(num_notes);
for (i=0;i<num_notes;i++) {
oi_byte_tx(notes[i]);
oi_byte_tx(duration[i]);
}
}
/**
* Set the state of the three LEDs on the iRobot (Power, Play, Advance).
* @play_led uint8_t either 0 (off) or 1 (on)
* @advance_led uint8_t either 0 (off) or 1 (on)
* @power_color uint8_t the color of the power LED; 0 = green, 255 = red
* @power_intensity uint8_t the intensity of the power LED; 0 = off, 255 = full intensity
*/
void oi_set_leds(uint8_t play_led, uint8_t advance_led, uint8_t power_color, uint8_t power_intensity) {
// LED Opcode
oi_byte_tx(OI_OPCODE_LEDS);
// Set the Play and Advance LEDs
oi_byte_tx(advance_led << 3 && play_led << 2);
// Set the power led color
oi_byte_tx(power_color);
// Set the power led intensity
oi_byte_tx(power_intensity);
}
/// Runs default go charge program; robot will search for dock
void go_charge(void) {
char charging_state=0;
//Calling demo that will cause Create to seek out home base
oi_byte_tx(OI_OPCODE_MAX);
oi_byte_tx(0x01);
//Control is returned immediately, so need to check for docking status
DDRB &= ~0x80; //Setting pin7 to input
PORTB |= 0x80; //Setting pullup on pin7
do {
charging_state = PINB >> 7;
} while (charging_state == 0);
}
/// Update the Create. This will update all the sensor data and store it in the oi_t struct.
void oi_update(oi_t *self) {
int i;
// Clear the receive buffer
while (UCSR1A & (1 << RXC))
i = UDR1;
// Query a list of sensor values
oi_byte_tx(OI_OPCODE_SENSORS);
// Send the sensor packet ID
oi_byte_tx(OI_SENSOR_PACKET_GROUP6);
// Read all the sensor data
char *sensor = (char *) self;
for (i = 0; i < 52; i++) {
// read each sensor byte
*(sensor++) = oi_byte_rx();
}
sensor = (char *) self;
// Fix byte ordering for multi-byte members of the struct
self->distance = (sensor[12] << 8) + sensor[13];
self->angle = (sensor[14] << 8) + sensor[15];
self->voltage = (sensor[17] << 8) + sensor[18];
self->current = (sensor[19] << 8) + sensor[20];
self->charge = (sensor[22] << 8) + sensor[23];
self->capacity = (sensor[24] << 8) + sensor[25];
self->wall_signal = (sensor[26] << 8) + sensor[27];
self->cliff_left_signal = (sensor[28] << 8) + sensor[29];
self->cliff_frontleft_signal = (sensor[30] << 8) + sensor[31];
self->cliff_frontright_signal = (sensor[32] << 8) + sensor[33];
self->cliff_right_signal = (sensor[34] << 8) + sensor[35];
self->cargo_bay_voltage = (sensor[41] << 8) + sensor[42];
self->requested_velocity = (sensor[48] << 8) + sensor[42];
self->requested_radius = (sensor[50] << 8) + sensor[51];
self->requested_right_velocity = (sensor[52] << 8) + sensor[53];
self->requested_left_velocity = (sensor[54] << 8) + sensor[55];
wait_ms(35); // reduces USART errors that occur when continuously transmitting/receiving
}
/// Plays a given song; use oi_load_song(...) first
void oi_play_song(int index){
oi_byte_tx(OI_OPCODE_PLAY);
oi_byte_tx(index);
}
