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ArloRobot/ArloRobot.h

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+/**
+  @file ArloRobot.h
+
+  @author Parallax Inc.
+
+  @brief Arlo Robot (with DHB-10 motor controller) functions for Arduino.
+
+  @version 0.5
+
+  @copyright
+  Copyright (c) Parallax Inc 2016. All rights MIT licensed;
+                see license.txt.
+*/
+
+#ifndef PARALLAX_ARLO_h
+#define PARALLAX_ARLO_h
+
+//#define DISPLAY_ACTIVITY
+
+#include <SoftwareSerial.h>
+#include <arduino.h>
+
+#define DHB10_MAX_MOTOR_PWR 127
+#define DT_PREV_ENCODER_CHECK 40
+#define LAST_EXCG_STR_LEN 96
+#define EXCG_STR_LEN 96
+#define LAST_EXCG_TX_MIN 16
+#define DEFAULT_TOP_SPEED 200
+
+class ArloRobot
+{
+  public:
+    char lastExchange[LAST_EXCG_STR_LEN];
+    int timeoutDHB10 = 900;
+  public:
+    // Set up/tear down
+    void begin(SoftwareSerial &serial);
+    void end();
+
+    // Movements
+    void writeCounts(long left, long right);
+    void writeSpeeds(int left, int right);
+    void writeMotorPower(int left, int right);
+
+    // Measurements
+    int readCountsLeft();
+    int readCountsRight();
+    int readSpeedLeft();
+    int readSpeedRight();
+    
+    // Communication Modes
+    void writePulseMode();
+    
+    // Information
+    int readFirmwareVer();
+    int readHardwareVer();
+    int readSpeedLimit();
+
+    // Configuration
+    void writeConfig(char *configString, int value);
+    int readConfig(char *configString);
+    void writeSpeedLimit(int countsPerSecond);
+    void clearCounts();
+
+    //Nonvolatile Configuration Storage
+    void storeConfig(char *configString);
+    void restoreConfig(); 
+
+    void checkCharacter(char c, int j);
+
+  private:
+    SoftwareSerial *dhb10;
+    long returnVal[3];
+    long paramVal[3];
+    char c[EXCG_STR_LEN];
+    unsigned long lastReadCount = 0;
+    char lastCommand[12] = {0,0,0,0,0,0,0,0,0,0,0,0};
+    int topSpeed = DEFAULT_TOP_SPEED;
+
+  private:
+    char *com(char *command, int paramCount, int retCount);
+}; 
+
+#endif