void I2CFlexel::loadLcdCustomCharacters(byte addr, byte *bitmap)
{
beginCommand(I2C_FLEXEL_COMMAND_LOAD_LCD_CUSTOM_CHARACTERS);
sendCommandParameter(addr);
sendCommandParameters(bitmap, I2C_FLEXEL_LCD_CHAR_ROWS_COUNT);
endCommand();
}
/**
* Sends the provided byte out over IR.
*/
void cm_send_ir(const uint8_t &data)
{
sendByte(CmdIRChar);
padCommand();
sendByte(data);
endCommand();
}
/**
* Plays the song stored under the given number.
*/
void cm_play_song(const uint8_t &song_number)
{
sendByte(CmdPlay);
padCommand();
sendByte(song_number);
endCommand();
}
void I2CFlexel::setLcdCursorPosition(byte row, byte column)
{
beginCommand(I2C_FLEXEL_COMMAND_SET_LCD_CURSOR_POSITION);
sendCommandParameter(min(I2C_FLEXEL_LCD_MAX_ROWS_COUNT - 1, row));
sendCommandParameter(min(I2C_FLEXEL_LCD_MAX_COLS_COUNT - 1, column));
endCommand();
}
void I2CFlexel::printStringOnLcd(const char *str, uint8_t length)
{
beginCommand(I2C_FLEXEL_COMMAND_PRINT_STRING_ON_LCD);
sendCommandParameter(length);
sendCommandParameters( (byte*) str, length);
endCommand();
}
/**
* Tells the robot to play the specified demo.
* See the DEMO_* constants for more information.
*/
void cm_play_demo(const uint8_t &demo)
{
sendByte(CmdDemo);
padCommand();
sendByte(demo);
endCommand();
}
Module::~Module()
{
endCommand();
qDeleteAll( d->modules );
delete d->project;
delete d;
}
void I2CFlexel::getTimeAndDate(byte* timeAndDate)
{
beginCommand(I2C_FLEXEL_COMMAND_GET_TIME_AND_DATE);
endCommand();
requestBytes(7);
readBytes(timeAndDate, 7);
}
byte I2CFlexel::getFirmwareVersion()
{
beginCommand(I2C_FLEXEL_COMMAND_GET_FIRMWARE_VERSION);
endCommand();
requestByte();
return readByte();
}
void I2CFlexel::setPwmForHighPowerPin(byte pin, byte pwmValue)
{
beginCommand(I2C_FLEXEL_COMMAND_SET_PWM_FOR_HIGH_POWER_PIN);
sendCommandParameter(pin);
sendCommandParameter(pwmValue);
endCommand();
}
void I2CFlexel::setPwmForDcMotor(byte motorAndPosition, byte pwmValue)
{
beginCommand(I2C_FLEXEL_COMMAND_SET_PWM_FOR_DC_MOTOR);
sendCommandParameter(motorAndPosition);
sendCommandParameter(pwmValue);
endCommand();
}
byte I2CFlexel::readKey(byte command)
{
beginCommand(command);
endCommand();
requestByte();
return readByte();
}
void I2CFlexel::setServoMotorPosition(byte pin, byte msb, byte lsb)
{
beginCommand(I2C_FLEXEL_COMMAND_SET_SERVO_MOTOR_POSITION);
sendCommandParameter(pin);
sendCommandParameter(msb);
sendCommandParameter(lsb);
endCommand();
}
void I2CFlexel::setTime(byte sec, byte min, byte hour)
{
beginCommand(I2C_FLEXEL_COMMAND_SET_TIME);
sendCommandParameter(sec);
sendCommandParameter(min);
sendCommandParameter(hour);
endCommand();
}
void I2CFlexel::getAnalogInputValue(byte pin, byte* analog)
{
beginCommand(I2C_FLEXEL_COMMAND_GET_ANALOG_INPUT_VALUE);
sendCommandParameter(pin);
endCommand();
requestBytes(2);
readBytes(analog, 2);
}
/**
* Reads the strength of the wall sensor's signal.
* The range is 0 to 4095.
*/
uint16_t cm_read_wall_signal(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_WALL_SIGNAL);
endCommand();
return readWord();
}
/**
* Reads the strength of the front left cliff sensor's signal.
* The range is 0 to 4095.
*/
uint16_t cm_read_front_left_cliff_signal(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_FRONT_LEFT_CLIFF_SIGNAL);
endCommand();
return readWord();
}
void I2CFlexel::setDate(byte wday, byte day, byte month, byte year)
{
beginCommand(I2C_FLEXEL_COMMAND_SET_DATE);
sendCommandParameter(wday);
sendCommandParameter(day);
sendCommandParameter(month);
sendCommandParameter(year);
endCommand();
}
/**
* Reads the strength of the far right cliff sensor's signal.
* The range is 0 to 4095.
*/
uint16_t cm_read_right_cliff_signal(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_FAR_RIGHT_CLIFF_SIGNAL);
endCommand();
return readWord();
}
/**
* Reads the current Open Interface mode.
* See the OI_MODE_* codes in the cm.h header.
*/
uint8_t cm_read_oi_mode(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_OI_MODE);
endCommand();
return readByte();
}
/**
* Reads the battery's estimated charge capacity in milliamp-hours.
* Note: This value is not accurate if the robot is running off Alkaline batteries.
*/
uint16_t cm_read_battery_capacity(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_CAPACITY);
endCommand();
return readWord();
}
/**
* Reads the number of the currently-playing song.
* Range is 0-15.
*/
uint8_t cm_read_current_song_number(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_SONG_NUMBER);
endCommand();
return readByte();
}
/**
* Returns the last-requested radius.
* Range is -32768 to 32767, units are in millimeters.
*/
uint16_t cm_read_requested_radius(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_RADIUS);
endCommand();
return readWord();
}
/**
* Returns 1 if there is a song currently playing.
*/
uint8_t cm_read_is_song_playing(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_SONG_PLAYING);
endCommand();
return readByte();
}
/**
* Reads the battery's current temperature in degrees Celsius.
*/
int8_t cm_read_battery_temperature(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_TEMPERATURE);
endCommand();
return readWord();
}
/**
* Reads the battery's current charge in milliamp-hours.
* Note: This value is not accurate if the robot is running off Alkaline batteries.
*/
uint16_t cm_read_battery_charge(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_CHARGE);
endCommand();
return readWord();
}
/**
* Reads the battery's current voltage in millivolts.
*/
uint16_t cm_read_battery_voltage(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_VOLTAGE);
endCommand();
return readWord();
}
/**
* Reads the amount of current running into (positive values) or out of (negative values)
* the robot's battery.
*/
int16_t cm_read_battery_current(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_CURRENT);
endCommand();
return readWord();
}
/**
* Returns the last-requested speed for the left wheel.
* Range is -500 to 500, in millimeters per second.
*/
uint16_t cm_read_requested_left_speed(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_LEFT_WHEEL_SPEED);
endCommand();
return readWord();
}
/**
* Reads the battery's current charging state.
* See the BATTERY_* codes in the cm.h header.
*/
uint8_t cm_read_charging_state(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_CHARGE_STATE);
endCommand();
return readByte();
}
