nibocc/copro.hpp

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//
//  Nibo C drivers - C functions for the Nibo robot
//
//  Copyright (C) 2007 by Nils Springob <nils@nicai-systems.de>
//
//  This program is free software; you can redistribute it and/or modify
//  it under the terms of the GNU General Public License as published by
//  the Free Software Foundation; either version 2 of the License, or
//  (at your option) any later version.
//
//  This program is distributed in the hope that it will be useful,
//  but WITHOUT ANY WARRANTY; without even the implied warranty of
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//  GNU General Public License for more details.
//
//  You should have received a copy of the GNU General Public License
//  along with this program; if not, write to the Free Software
//  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

#ifndef NIBOCC_COPRO_HPP_
#define NIBOCC_COPRO_HPP_
#if defined(NIBOCC_USE_COPRO) || defined (DOXYGEN)

#include <stdint.h>
#include "nibo/copro.h"

namespace nibocc {

class Copro
{
  public:
    static int16_t get_speed_l() {return ::copro_speed_l;}

    static int16_t get_speed_r() {return ::copro_speed_r;}

    static int16_t get_ticks_l() {return ::copro_ticks_l;}

    static int16_t get_ticks_r() {return ::copro_ticks_r;}

    static int16_t get_current_l() {return ::copro_current_l;}

    static int16_t get_current_r() {return ::copro_current_r;}

    static uint8_t update() {return ::copro_update();}

    static uint8_t stop() {return ::copro_stop();}

    static uint8_t set_pwm(int16_t left, int16_t right) {return ::copro_setPWM(left, right);}

    static uint8_t set_speed(int16_t left, int16_t right) {return ::copro_setSpeed(left, right);}

    static uint8_t set_target_abs(int16_t left, int16_t right, uint16_t speed) {return ::copro_setTargetAbs(left, right, speed);}

    static uint8_t set_target_rel(int16_t left, int16_t right, uint16_t speed) {return ::copro_setTargetRel(left, right, speed);}

    static uint8_t set_speed_parameters(int8_t ki, int8_t kp, int8_t kd) {return ::copro_setSpeedParameters(ki, kp, kd);}

    static uint8_t reset_odometry(int16_t left, int16_t right) {return ::copro_resetOdometry(left, right);}


    enum {
      PASSIVE = 0,
      RC5TX   = 1,
      MEASURE = 2,
    };
    static uint8_t get_ir_mode() {return ::copro_ir_mode;}

    static uint8_t get_distance(uint8_t id) {return ::copro_distance[id];}

    static uint16_t get_rc5_cmd() {return ::copro_rc5_cmd;}

    static uint8_t ir_stop() {return ::copro_ir_stop();}

    static uint8_t ir_start_measure() {return ::copro_ir_startMeasure();}

    static uint8_t transmit_rc5(uint16_t rc5) {return ::copro_transmitRC5(rc5);}



};

} // namespace
#endif // NIBOCC_USE_COPRO
#endif // NIBOCC_COPRO_HPP_