Roomba_driver.cpp File Reference

Roomba の移動制御 More...

#include <stdexcept>
#include <cassert>
#include "Roomba_driver.h"
#include "Differential_drive.h"
#include "Constant_acceleration.h"
#include "connection_utils.h"
#include "point_utils.h"
#include "Thread.h"
#include "Mutex.h"
#include "Serial.h"
#include "delay.h"
#include "ticks.h"

Include dependency graph for Roomba_driver.cpp:

Enumerations
enum	{ Default_timeout = 100, Roomba_system_cycle = 15, Roomba_1m_counts = 2229, Roomba_1rotate_counts = 3500 }
enum	opcode_t {   Start_command = 128, Safe_command = 131, Full_command = 132, Motors_command = 138,   Dock_command = 143, Drive_direct_command = 145, Stream_command = 148, Query_list_command = 149,   Pause_resume_command = 150, Power_command = 133 }
	ROI のコマンド
enum	packet_id_t { Battery_current_id = 23, OI_mode_id = 35, Encoder_counts_left = 43, Encoder_counts_right = 44 }
	受信パケット Id
enum	roomba_mode_t {   Unknown_mode = -1, Off_mode = 0, Passive_mode = 1, Safe_mode = 2,   Full_mode = 3 }
	Roomba のモード

Detailed Description

Roomba の移動制御

500 シリーズ用の実装

Todo:

左,右 の列挙子を定義し、実装が重複している箇所を修正する。