Robot Class Reference

#include <Robot.h>

Public Member Functions
	Robot ()
	creates an instance of the class Robot More...
void	init ()
	Configures the robot to be used with Bot'n Roll One. More...
bool	areThereObstacles ()
	Reads IR obstacles sensors and sends commands to motors avoiding obstacles. More...
void	sendToMotors (MoveType robotMove, char lineSignature)
	Sends commands to motors. More...
void	EEPROMWriteInt (int p_address, int p_value)
	Writes an integer to the EEPROM. More...
unsigned int	EEPROMReadInt (int p_address)
	Reads an integer from the EEPROM. More...
void	writeEEPROM ()
	Reads all the saved values from the EEPROM (e.g. speed and other parameters) More...
void	readEEPROM ()
	Stores all the relevant values on the EEPROM (e.g. speed and other parameters) More...
void	readQTR8A (unsigned int *line)
	Read the calibrated line Sensor. More...
int	readLineSensors (unsigned int *sensor_values)
	Read the line Sensor. More...
void	Menu ()
	Launches the Menu for User Interface. More...

Public Attributes
BnrOneA	_one
	the interface to the Bot'n Roll One A More...
int	_speed
	the reference speed of the robot More...
int	_leftWheelSpeed
	the left wheel speed More...
int	_rightWheelSpeed
	the right wheel speed More...
bool	_debug
	when true sends debug messages to LCD/Serial interface More...
int	_pause
	the pause in milliseconds for 90º fixed turnings More...
NonLinearControl	_nonLinearControl
	Non-linear control values. More...

Constructor & Destructor Documentation

Robot::Robot

(

)

creates an instance of the class Robot

Member Function Documentation

bool Robot::areThereObstacles

(

)

Reads IR obstacles sensors and sends commands to motors avoiding obstacles.

Returns

true if obstacles detected, false otherwise

unsigned int Robot::EEPROMReadInt

(

int

p_address

)

Reads an integer from the EEPROM.

Parameters

p_address

the address from where the value is to be read from

Returns

the value read

void Robot::EEPROMWriteInt	(	int	p_address,
		int	p_value
	)

Writes an integer to the EEPROM.

Parameters

p_address	the address where the value is to be written
p_value	the value to be written

void Robot::init

(

)

Configures the robot to be used with Bot'n Roll One.

Reads saved configuration values (e.g. speed and other parameters) from the EEPROM Writes a welcome message to the LCD Launches the Menu

void Robot::Menu

(

)

Launches the Menu for User Interface.

void Robot::readEEPROM

(

)

Stores all the relevant values on the EEPROM (e.g. speed and other parameters)

int Robot::readLineSensors

(

unsigned int *

sensor_values

)

Read the line Sensor.

void Robot::readQTR8A

(

unsigned int *

line

)

Read the calibrated line Sensor.

void Robot::sendToMotors	(	MoveType	robotMove,
		char	lineSignature
	)

Sends commands to motors.

Parameters

robotMove

the type of movement to be performed

void Robot::writeEEPROM

(

)

Reads all the saved values from the EEPROM (e.g. speed and other parameters)

Member Data Documentation

bool Robot::_debug

when true sends debug messages to LCD/Serial interface

int Robot::_leftWheelSpeed

the left wheel speed

NonLinearControl Robot::_nonLinearControl

Non-linear control values.

BnrOneA Robot::_one

the interface to the Bot'n Roll One A

int Robot::_pause

the pause in milliseconds for 90º fixed turnings

int Robot::_rightWheelSpeed

the right wheel speed

int Robot::_speed

the reference speed of the robot

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

• source_code/MazeSolver/Robot.h
• source_code/MazeSolver/Robot.cpp