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kRobot.cpp
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kRobot.cpp
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/**************************************************************************************
*
* XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
* X Bonaventure Robotics Laboratory X
* X X
* X kRobot Version 3.2 X
* X kRobot.cpp X
* XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
*
* Defines the interface for the Khepera robot.
*
* Copyright (C) 2001, 2002, 2004 Robert M. Harlan
*
* 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; version 2 of the License,
*
* 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 may obtain a copy of the GNU General Public License by writing to
* the Free Software Foundation, Inc., 59 Temple Place, Suite 330,
* Boston, MA 02111-1307 USA
*
* Developed by the Computer Science Departmetn, St. Bonaventure University.
* Contributors: Dr. Robert Harlan, Shelley McClarigan, Catherine Mellon,
* Brian C. Zimmel, and Josh Goodberry
* Contact: [email protected]
* http://web.sbu.edu/cs/roboticsLab
*
*
* Rev 1.0: Shelley McClarigan, Robert Harlan
*
* This is the original version of kRobot. The intention of the kRobot
* class is to enable students with very little programming experience
* to write and test code on the Khepera robot. All low level code has
* been hidden from the programmer. The kRobot class allows the programmer
* to use the effectors and sensors of the robot in numerous ways. (5/25/00)
*
* Rev 1.1: Catherine Mellon and Brian Zimmel
*
* Three functions have been added which were needed for navigation.
* MoveForwardUnit() - moves robot 80mm forward
* TurnSharpLeft() - turns robot left 90 degrees in same position
* TurnSharpRight() - turns robot right 90 degrees in same position
* Two functions have been removed: TurnLeftCorner() and TurnRightCorner().
* These functions were not needed with the addition of the new turn functions.
* Documentation was also added to the code. (1/9/01)
*
* Rev 2.0 : Robert Harlan, Catherine Mellon, and Brian C. Zimmel
*
* After the first version was complete, the class was restructured to be
* more user friendly. Some changes included allowing the user to specify
* a certain distance or speed for the robot to move. The units for the two
* fields are in millimeters and millimeters per second, respectively. The
* user is also able to turn the robot a specified degree. Previous manipulation
* of robot functions were eliminated to make more information about the robot
* obtainable to the user, including wheel counters and wheel speeds. Other
* minor changes were made to the class as well. (1/26/01)
*
* Rev 2.1 : Robert Harlan, Catherine Mellon, and Brian C. Zimmel
*
* The user is now able to specify speed for any movement, including moving a certain
* distance and turning, which was not an option in the past. The user is able to set
* the robots acceleration rate as well. (1/30/01)
*
* Rev 2.2 : Brian C. Zimmel
*
* All known bugs involving wheel counters have been fixed. (2/5/01)
*
* Rev 3.0 : Brian C. Zimmel and Catherine Mellon
*
* Inheritance was added to the kRobot class to allow additional turrets to be used.
* kRobot was made a base class and all turrets that use the robots must be a subclass
* of kRobot. The only function they are permitted to use, excluding the public functions,
* is the function to send commands to the robot. Subclasses are also allowed to use
* verbose field for debugging. The intent of this design is to give the option of other
* turrets to expand off kRobot or other turrets themselves, all using kRobot to send commands.
* The function to change the port name was moved out of the private as well to allow subclasses
* to change the port name if needed. (4/1/01)
*
* Rev 3.1 : Brian C. Zimmel and Josh Goodberry
*
* All functions must now return a value. If no value was returned previously,
* it must return a Boolean value. If the function performs properly, it will
* return a true value, false otherwise. (5/22/01)
*
* Rev 3.2 : Robert Harlan
* Serial.VERBOSE (flag for tracing Serial class methods) and kRobot.verbose (flag for
* tracing kRobot class methods)repaired. kRobot.VerboseOff() sets both to false,
* veboseOn() sets both to true. Default setting is true for both. (4/15/04)
*
* Stop has been modified so that neither wheel speeds or wheel acceleration are
* modified. Setting them to 0 threw an error in turns unless reset was called, (5/20/04)
*
* Date Created: 3/5/00
* Last Update 5/20/04
*
**************************************************************************************/
#include "kRobot.h"
/**************************************************************************************
* METODOS PROTEGIDOS
**************************************************************************************/
/**************************************************************************************
* Purpose: Send command to Khepera and return response
* Preconditions: Commands are in the form of a capital letter,
* followed by any parameters needed, ending with
* a carriage return and line feed.
* Postconditions: Responses are in the form of a lowercase letter
* corresponding to the capital letter command, then
* any data it needs to transmit and a carriage return.
**************************************************************************************/
apstring kRobot::send(apstring command)
{
apstring reply;
reply = SerialPort->Talk(command);
return reply;
}//end send(apstring)
/**************************************************************************************
* METODOS PUBLICOS
**************************************************************************************/
/**************************************************************************************
* Purpose: Constructor permits setting of serial port and berbose status.
* Preconditions: newPortName is valid serial port if given.
* Postconditions: verbose set to false (changed later with the verboseOff() method)
* serial port set to parameter, if none given port set
* to "/dev/ttya"; Connection to robot opened.
* Note, if you want to see initial communication, create a kRobot object
* as follows: kRobot r("/dev/ttya", true);
**************************************************************************************/
kRobot::kRobot(apstring newPortName, bool verboseStatus)
{
char ch;
//debugger is initially set on
//turn off with verboseOff();
verbose = verboseStatus;
portname = newPortName;
wheelCounters[0] = 0;
wheelCounters[1] = 0;
wheelSpeeds[0] = 10;
wheelSpeeds[1] = 10;
wheelAccelerations[0] = 35;
wheelAccelerations[1] = 35;
cout << "\n\nkRobot version 3.2 \nBonaventure Robotics Laboratory" << endl
<< "Press any key to continue: ";
cin >> ch;
if (!openConnection())
{
openCon = false;
cout << "ERROR: Connection failed to open." << endl;
}
else
{
openCon = true;
stop();
reset();
}
}//end constructor with port parameter
/**************************************************************************************
* Purpose: Closes connection and deletes serial port.
* Preconditions: None.
* Postconditions: Connection closed and serial port deleted.
**************************************************************************************/
kRobot::~kRobot()
{
// closeConnection();
// delete SerialPort;
}//end destructor
int kRobot::cerrar()
{
closeConnection();
delete SerialPort;
return 0;
}
/**************************************************************************************
* Purpose: Resets the wheel counters to zero. Sets speed and acceleration
* to default settings.
* Preconditions: Serial communications open.
* Postconditions: Counters set to 0; Speed and acceleration are set to default.
* Returns true if completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::reset()
{
apstring reply = "";
reply = send(RESET);
//if the wrong reply is given from the robot return false
if (reply[0] != 'g')
{
return false;
}
wheelCounters[0] = 0;
wheelCounters[1] = 0;
wheelSpeeds[0] = 10;
wheelSpeeds[1] = 10;
wheelAccelerations[0] = 35;
wheelAccelerations[1] = 35;
if (!updateWheelCounters())
{
if (verbose)
cout << "Error in reset" << endl;
return false;
}
return true;
}//end reset()
/**************************************************************************************
* Purpose: Informs user if a serial connection has been established.
* Preconditions: None.
* Postconditions: Returns true if serial connection is open, false otherwise.
**************************************************************************************/
bool kRobot::isConnected()
{
return openCon;
}
/********************************************************************************/
/****WHEEL MOVEMENT FUNCTIONS****/
/**************************************************************************************
* Purpose: Makes robot move forward indefinitely at speeds in private fields
* Preconditions: Serial communications open.
* Postconditions: Robot moves forward indefinitely. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::moveForward()
{
apstring strLeftWheel, strRightWheel, strCommand, strReply;
//convert wheel speed integers to strings for communication
strLeftWheel = intToString(wheelSpeeds[0]);
strRightWheel = intToString(wheelSpeeds[1]);
//send robot
strCommand = "D," + strLeftWheel + "," + strRightWheel + "\n";
strReply = send(strCommand);
if(verbose)
cout << strReply << endl;
if (strReply[0] != 'd')
{
return false;
}
return true;
}//end moveForward()
/**************************************************************************************
* Purpose: Makes robot move forward n millimeters.
* Range is 0 < distance <= 670000 mm.
* Preconditions: Serial communications open; distance in millimeters.
* Postconditions: Robot moves forward n millimeters. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::moveForwardDistance(int distance)
{
updateWheelCounters();
int rotations, leftCounter, rightCounter, comma;
apstring leftWheel, rightWheel, command, reply;
apstring wheelCountReply;
apstring strLeftWheel, strRightWheel;
apstring strLeftAcc, strRightAcc;
//convert wheel speed and acceleration integers to strings for communication
strLeftWheel = intToString(wheelSpeeds[0]);
strRightWheel = intToString(wheelSpeeds[1]);
strLeftAcc = intToString(wheelAccelerations[0]);
strRightAcc = intToString(wheelAccelerations[1]);
//set wheel speed and acceleration
command = "J," + strLeftWheel + "," + strLeftAcc + "," + strRightWheel + "," + strRightAcc + "\n";
reply = send(command);
if(verbose)
cout << reply << endl;
//if do not get back correct response return false
if (reply[0] != 'j')
{
return false;
}
//convert distance in mm to wheel rotations; add to current count
rotations = (distance*1000)/80;
leftCounter = wheelCounters[0] + rotations;
rightCounter = wheelCounters[1] + rotations;
//convert wheel counter integer to strings for communication
leftWheel = intToString(leftCounter);
rightWheel = intToString(rightCounter);
//send robot
command = "C," + leftWheel + "," + rightWheel + "\n";
reply = send(command);
if(verbose)
cout << reply << endl;
if (reply[0] != 'c')
return false;
//pause program until robot moves given distance, if fails return false
if (!pauseRobot(leftCounter,rightCounter))
return false;
//update wheel counters, if fails return false;
if (!updateWheelCounters())
return false;
return true;
}//end moveForwardDistance(int)
/**************************************************************************************
* Purpose: Makes robot move backwards indefinitely at speeds in private fields
* Preconditions: Serial communications open.
* Postconditions: Robot moves backwards indefinitely. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::moveBackward()
{
apstring strLeftWheel, strRightWheel, strCommand, strReply;
//convert wheel speed integers to strings for communication
strLeftWheel = intToString(wheelSpeeds[0]);
strRightWheel = intToString(wheelSpeeds[1]);
//send robot
strCommand = "D,-" + strLeftWheel + ",-" + strRightWheel + "\n";
strReply = send(strCommand);
if(verbose)
cout << strReply << endl;
if (strReply[0] != 'd')
{
return false;
}
return true;
}//end moveBackward()
/**************************************************************************************
* Purpose: Makes robot move backward n millimeters.
* Range is 0 < distance <= 670000 mm.
* Preconditions: Serial communications open; distance in millimeters.
* Postconditions: Robot moves backwards n millimeters. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::moveBackwardDistance(int distance)
{
updateWheelCounters();
int rotations, leftCounter, rightCounter, comma;
apstring leftWheel, rightWheel, command, reply;
apstring wheelCountReply;
apstring strLeftWheel, strRightWheel;
apstring strLeftAcc, strRightAcc;
//convert wheel speed and acceleration integers to strings for communication
strLeftWheel = intToString(wheelSpeeds[0]);
strRightWheel = intToString(wheelSpeeds[1]);
strLeftAcc = intToString(wheelAccelerations[0]);
strRightAcc = intToString(wheelAccelerations[1]);
//set wheel speed and acceleration
command = "J," + strLeftWheel + "," + strLeftAcc + "," + strRightWheel + "," + strRightAcc + "\n";
reply = send(command);
if(verbose)
cout << reply << endl;
//if do not get back correct responce return false
if (reply[0] != 'j')
{
return false;
}
//convert distance in mm to wheel rotaions; add to current count
rotations = (distance*1000)/80;
leftCounter = wheelCounters[0] - rotations;
rightCounter = wheelCounters[1] - rotations;
//convert wheel counter integers to strings for communication
leftWheel = intToString(leftCounter);
rightWheel = intToString(rightCounter);
//send robot
command = "C," + leftWheel + "," + rightWheel + "\n";
reply = send(command);
if(verbose)
cout << reply << endl;
if (reply[0] != 'c')
return false;
//pause program until robot moves given distance, if fails return false
if (!pauseRobot(leftCounter,rightCounter))
return false;
//update wheel counters, if fails return false;
if (!updateWheelCounters())
return false;
return true;
}//end moveBackwardDistance(int)
/**************************************************************************************
* Purpose: Stops the movement of the robot.
* Preconditions: Serial communications open; robot in motion.
* Postconditions: Robot stops. Returns true if completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::stop()
{
//if fails, return false
if (!updateWheelCounters())
return false;
apstring reply = send(STOP);
//if wrong response is given, return false
if (reply[0] != 'd')
return false;
if (!updateWheelCounters())
return false;
return true;
}//end stop()
/**************************************************************************************
* Purpose: Makes robot turn left degrees passed as parameter.
* Preconditions: 0<=degrees<=360; Serial communications open.
* Postconditions: Robot turns right n degrees. Returns true if
// completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::turnLeft(int degree)
{
//if fails return false
if (!updateWheelCounters())
return false;
int counter, leftCounter, rightCounter, comma;
apstring leftWheel, rightWheel, command, reply;
apstring wheelCountReply;
apstring strLeftWheel, strRightWheel;
apstring strLeftAcc, strRightAcc;
//convert wheel speed and acceleration integers to strings for communication
strLeftWheel = intToString(wheelSpeeds[0]);
strRightWheel = intToString(wheelSpeeds[1]);
strLeftAcc = intToString(wheelAccelerations[0]);
strRightAcc = intToString(wheelAccelerations[1]);
// stop the robot before turning
reply = send(STOP);
if (verbose)
{
cout << "stop sent from turn left, reply is " << reply << endl;
}
if (reply[0] != 'd')
return false;
//set wheel speed and acceleration
command = "J," + strLeftWheel + "," + strLeftAcc + "," + strRightWheel + "," + strRightAcc + "\n";
reply = send(command);
if(verbose)
cout << reply << endl;
if (reply[0] != 'j')
return false;
//convert distance in mm to wheel rotations; add to current count
counter = (1035*degree)/180;
//rounds degree up insted of truncating number.
if (((1035*degree)%180) >= 90)
counter++;
leftCounter = wheelCounters[0] - counter;
rightCounter = wheelCounters[1] + counter;
//convert wheel counter integers to strings for communication
leftWheel = intToString(leftCounter);
rightWheel = intToString(rightCounter);
//Stop the robot if moving
send(STOP);
//send robot
command = "C," + leftWheel + "," + rightWheel + "\n";
reply = send(command);
if(verbose)
cout << reply << endl;
if (reply[0] != 'c')
return false;
//pause program until robot moves given distance, if fails return false
if (!pauseRobot(leftCounter,rightCounter))
return false;
//update wheel counters, if fails return false;
if (!updateWheelCounters())
return false;
return true;
}//end turnLeft(int)
/**************************************************************************************
* Purpose: Makes robot turn right degrees passed as parameter.
* Preconditions: 0<=degrees<=360; Serial communications open.
* Postconditions: Robot turns right n degrees. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::turnRight(int degree)
{
//if fails return false;
if (!updateWheelCounters())
return false;
int counter, leftCounter, rightCounter, comma;
apstring leftWheel, rightWheel, command, reply;
apstring wheelCountReply;
apstring strLeftWheel, strRightWheel;
apstring strLeftAcc, strRightAcc;
// stop the robot before turning
reply = send(STOP);
if (verbose)
{
cout << "stop sent, reply is " << reply << endl;
}
//convert wheel speed and acceleration integers to strings for communication
strLeftWheel = intToString(wheelSpeeds[0]);
strRightWheel = intToString(wheelSpeeds[1]);
strLeftAcc = intToString(wheelAccelerations[0]);
strRightAcc = intToString(wheelAccelerations[1]);
//set wheel speed and acceleration
command = "J," + strLeftWheel + "," + strLeftAcc + "," + strRightWheel + "," + strRightAcc + "\n";
reply = send(command);
if(verbose)
cout << reply << endl;
//if reply not correct return false;
if (reply[0] != 'j')
return false;
//convert distance in mm to wheel rotaions; add to current count
counter = (1035*degree)/180;
//rounds degree up instead of truncating number.
if (((1035*degree)%180) >= 90)
counter++;
leftCounter = wheelCounters[0] + counter;
rightCounter = wheelCounters[1] - counter;
//convert wheel counter integers to strings for communication
leftWheel = intToString(leftCounter);
rightWheel = intToString(rightCounter);
//Stop the robot if moving
send(STOP);
//send robot
command = "C," + leftWheel + "," + rightWheel + "\n";
reply = send(command);
if(verbose)
cout << reply << endl;
//if reply not correct return false;
if (reply[0] != 'c')
return false;
//pause program until robot moves given distance, if fails return false
if (!pauseRobot(leftCounter,rightCounter))
return false;
//update wheel counters, if fails return false;
if (!updateWheelCounters())
return false;
return true;
}//end turnRight(int)
/********************************************************************************/
/**** WHEEL COUNTER FUNCTIONS ****/
/**************************************************************************************
* Purpose: Reads left wheel counter.
* Preconditions: Serial communications open.
* Postconditions: Returns counter (+ forward, - reverse)
**************************************************************************************/
int kRobot::getLeftWheelCounter()
{
updateWheelCounters();
return wheelCounters[0];
}//end getLeftWheelCounter()
/**************************************************************************************
* Purpose: Reads right wheel counter.
* Preconditions: Serial communications open.
* Postconditions: Returns counter (+ forward, - reverse)
**************************************************************************************/
int kRobot::getRightWheelCounter()
{
updateWheelCounters();
return wheelCounters[1];
}//end getRightWheelCounter()
/**************************************************************************************
* Purpose: Reads the speed and direction (+/-) of left wheel/motor in mm/sec.
* Preconditions: Serial communications open.
* Postconditions: Returns speed and direction of left wheel
**************************************************************************************/
int kRobot::getLeftWheelSpeed()
{
return (wheelSpeeds[0]*1000)/127;
}//end getLeftWheelSpeed()
/**************************************************************************************
* Purpose: Reads the speed and direction (+/-) of right wheel/motor in mm/sec.
* Preconditions: Serial communications open.
* Postconditions: Returns speed and direction of right wheel
**************************************************************************************/
int kRobot::getRightWheelSpeed()
{
return (wheelSpeeds[1]*1000)/127;
}//end getRightWheelSpeed()
/**************************************************************************************
* Purpose: Sets the speed and direction (+/-) of wheel/motor in mm/sec.
* Range is 0 < speed <= 1000 mm/sec.
* Preconditions: Serial communications open.
* Postconditions: Private fields are updated. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::setWheelSpeed(int leftSpeed, int rightSpeed)
{
leftSpeed = (leftSpeed*127)/1000;
rightSpeed = (rightSpeed*127)/1000;
wheelSpeeds[0] = leftSpeed;
wheelSpeeds[1] = rightSpeed;
return true;
}//end setWheelSpeed()
/**************************************************************************************
* Purpose: Reads the acceleration of left wheel/motor in mm/sec^2.
* Preconditions: Serial communications open.
* Postconditions: Returns acceleration of left wheel
**************************************************************************************/
int kRobot::getLeftWheelAcceleration()
{
return wheelAccelerations[0]*3125;
}//end getLeftWheelAcceleration()
/**************************************************************************************
* Purpose: Reads the acceleration of right wheel/motor in mm/sec^2.
* Preconditions: Serial communications open.
* Postconditions: Returns acceleration of right wheel
**************************************************************************************/
int kRobot::getRightWheelAcceleration()
{
return wheelAccelerations[1]*3125;
}//end getRightWheelAcceleration()
/**************************************************************************************
* Purpose: Sets the acceleration and direction (+/-) of wheel/motor in mm/sec^2.
* Range is 0 < acceleration <= 396875 mm/sec^2.
* Preconditions: Serial communications open.
* Postconditions: Private fields are updated. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::setWheelAcceleration(int leftAcc, int rightAcc)
{
if (leftAcc < 3125)
leftAcc = 1;
else
leftAcc = (leftAcc)/3125;
if (rightAcc < 3125)
rightAcc = 1;
else
rightAcc = (rightAcc)/3125;
wheelAccelerations[0] = leftAcc;
wheelAccelerations[1] = rightAcc;
return true;
}//end setWheelAcceleration(int,int)
/********************************************************************************/
/**** SENSOR FUNCTIONS ****/
/**************************************************************************************
* Purpose: Reads the values of each of eight light sensors.
* Preconditions: Serial communication open.
* Postconditions: Stores values of light sensors in an array, indexed
* 0..7, as labeled on Khepera diagram. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::readLightSensors()
{
apstring reply = send("O\n");
int comma;
if (verbose)
cout << reply << endl;
//if correct response not given return false
if (reply[0] != 'o')
return false;
reply = reply.substr(2,reply.length()-1);
for(int i=0; i<8; i++) {
comma = reply.find(',');
LightSensors[i] = atoi(reply.substr(0,comma+1).c_str());
reply = reply.substr(comma+1, reply.length() - comma + 1);
}
LightSensors[7] = atoi(reply.c_str());
return true;
}//end readLightSensors()
/**************************************************************************************
* Purpose: Displays the values of each of eight light sensors.
* Preconditions: Sensors updated; serial communication open.
* Postconditions: Values of light sensors displayed, indexed
* 0..7 as labeled on Khepera diagram. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::writeLightSensors()
{
cout << "Light: " << '\t';
for (int i=0; i<8; i++)
cout << LightSensors[i] << '\t';
cout << endl;
return true;
}//end writeLightSensors()
/**************************************************************************************
* Purpose: Displays the value of requested sensor as numbered
* on Khepera diagram.
* Preconditions: 0<=s<8; Sensors updated; serial communication open.
* Postconditions: Value returned, 0<=val<1024, larger magnitidue is less light
**************************************************************************************/
int kRobot::getLightSensor(int s)
{
return LightSensors[s];
}//end getLightSensors(int)
/**************************************************************************************
* Purpose: Reads the values of each of eight proximity sensors.
* Preconditions: Serial communication open.
* Postconditions: Stores values of proximity sensors in an array, indexed
* 0..7 as labeled on Khepera diagram. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::readProxSensors()
{
apstring reply = send("N\n");
int comma;
if (verbose)
cout << " reading sensors... " << reply << endl;
//if correct responce not given return false;
if (reply[0] != 'n')
return false;
reply = reply.substr(2,reply.length()-1);
for(int i=0; i<8; i++) {
comma = reply.find(',');
ProxSensors[i] = atoi(reply.substr(0,comma+1).c_str());
reply = reply.substr(comma+1, reply.length() - comma + 1);
}
ProxSensors[7] = atoi(reply.c_str());
return true;
}//end readProxSensors()
/**************************************************************************************
* Purpose: Displays the values of the proximity sensors to the screen.
* Preconditions: Array contains values.
* Postconditions: Values of proximity sensors displayed, indexed
* 0..7 as labeled on Khepera diagram. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::writeProxSensors()
{
cout << "Prox: " << '\t';
for (int i=0; i<8; i++)
cout << ProxSensors[i] << '\t';
cout << endl;
return true;
}//end writeProxSensors()
/**************************************************************************************
* Purpose: Displays the value of requested sensor as numbered
* on Khepera diagram.
* Preconditions: 0<=s<8; Sensors updated; serial communication open.
* Postconditions: Value returned, 0<=val<1024, larger magnitidue is closer.
**************************************************************************************/
int kRobot::getProxSensor(int s)
{
return ProxSensors[s];
}//end getProxSensor(int)
/********************************************************************************/
/**** OTHER FUNCTIONS ****/
/**************************************************************************************
* Purpose: Display all of the debugging messages on the screen.
* Preconditions: *SerialPort created by OpenConnection()
* Postconditions: Serial.VERBOSE and kRobot.verbose set to true. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::verboseOn()
{
verbose = true;
SerialPort->VerboseOn();
cout << "khepera is in VERBOSE mode" << endl;
return true;
}//end verboseOn()
/**************************************************************************************
* Purpose: Stops the displaying of all the dubugging messages on the screen.
* Preconditions: None.
* Postconditions: Serial.VERBOSE and kRobot.verbose set to false. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::verboseOff()
{
verbose = false;
SerialPort->VerboseOff();
return true;
}//end verboseOff()
/**************************************************************************************
* Purpose: Gets the port name of the serial port if different than the default.
* Run before openConnection().
* Precondition: Parameter is initiallized.
* Postcondition: Stores port name in private field. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::setPortName(apstring port)
{
if (verbose)
cout << "Changing connection to robot. Please wait..." << endl;
//if connection cannot be closed, return false;
if (!closeConnection())
return false;
portname = port;
//if new connection is not opened return false;
if (!openConnection())
return false;
if (verbose)
cout << "A new connection has been made on: " << port << endl;
return true;
}//end getPortName()
/**********************PRIVATE FUNCTIONS***********************/
/**************************************************************************************
* Purpose: Opens the connection to the serial port.
* Precondition: Port is defined.
* Postcondition: Connection opened to given port. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::openConnection()
{
if (verbose)
cout << "kRobot->Opening connection to khepera..." << endl;
SerialPort = new Serial(verbose);
if (!SerialPort->Open(portname.c_str()))
{
if (verbose)
cout << "kRobot->Connection failed to open" << endl;
return false;
}
if (verbose)
cout << "kRobot->...Connection opened" << endl;
return true;
}//end openConnection()
/**************************************************************************************
* Purpose: Close the serial connection to the serial port.
* Preconditions: Connection must be open.
* Postconditions: Connection is closed to port. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::closeConnection()
{
if (!SerialPort->Close())
{
if (verbose)
cout << "kRobot->Connection failed to close" << endl;
return false;
}
if (verbose)
cout << "Connection to khepera closed " << endl;
return true;
}//end closeConnection()
/**************************************************************************************
* Purpose: Pauses robot so commands can be carried out
* Preconditions: Goal counters for wheels are given
* Postconditions: Robot is paused until wheel counters are close to goal
* Returns true if completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::pauseRobot(int leftCounter, int rightCounter)
{
if (!updateWheelCounters())
{
if (verbose)
cout << "Error in pause robot -- could not update wheel counters" << endl;
return false;
}
//keep pausing until (goal-10 < counter < goal+10)
while (((leftCounter-10 > wheelCounters[0]) || (wheelCounters[0] > leftCounter+10)) ||
((rightCounter-10 > wheelCounters[1]) || (wheelCounters[1] > rightCounter+10)))
{
wait(.001);
if(verbose)
{
cout << "left ctr " << leftCounter << " left wheel " << wheelCounters[0] << " right ctr "
<< rightCounter << " right wheel " << wheelCounters[1] << endl;
}//if verbose
if (!updateWheelCounters())
{
if (verbose)
cout << "Error in puase robot -- error in while loop" << endl;
return false;
}
}
return true;
}//end pauseRobot(int,int)
/**************************************************************************************
* Purpose: Updates class wheel counters with robot's wheel counters
* Preconditions: Serial communication open.
* Postconditions: Private wheel counters data is updated. Returns true if
* completed sucessfully, false otherwise.
**************************************************************************************/
bool kRobot::updateWheelCounters()
{
apstring wheelCountReply = "";
wheelCountReply = send("H\n");
wheelCountReply = send("H\n");
if (verbose)
{
cout << " response on wheel count in updateWheelCount: " << wheelCountReply << endl;
}
if (wheelCountReply[0] != 'h')
return false;
int comma = 0;
//Get wheel counters from robot and assign to private data
wheelCountReply = wheelCountReply.substr(2,wheelCountReply.length()-1);