#include <Arduino.h>
#include <wpi-32u4-lib.h>
#include <IRdecoder.h>
#include <ir_codes.h>
#include <Chassis.h>
#include <Servo32u4.h>

Enumerations
enum	ROBOT_STATE { ROBOT_IDLE , ROBOT_SERVO_TEST }

Functions
void	idle (void)

void	adjustServos (uint16_t uSeconds)

void	handleKeyPress (int16_t keyPress)

void	setup ()

void	loop ()

Variables
Chassis	chassis (7.0, 1440, 14.9)

Servo32U4Pin5	servoA

Servo32U4Pin6	servoB

const uint8_t	IR_DETECTOR_PIN = 1

IRDecoder	decoder (IR_DETECTOR_PIN)

ROBOT_STATE	robotState = ROBOT_IDLE

Enumeration Type Documentation

◆ ROBOT_STATE

enum ROBOT_STATE

Enumerator
ROBOT_IDLE
ROBOT_SERVO_TEST

Definition at line 31 of file main.cpp.

Function Documentation

◆ adjustServos()

void adjustServos ( uint16_t uSeconds )

Definition at line 50 of file main.cpp.

References ROBOT_SERVO_TEST, robotState, servoA, servoB, Servo32U4Pin5::writeMicroseconds(), and Servo32U4Pin6::writeMicroseconds().

Referenced by handleKeyPress().

◆ handleKeyPress()

void handleKeyPress ( int16_t keyPress )

Definition at line 60 of file main.cpp.

References adjustServos(), Servo32U4Pin5::attach(), Servo32U4Pin6::attach(), ENTER_SAVE, idle(), PLAY_PAUSE, ROBOT_IDLE, ROBOT_SERVO_TEST, robotState, servoA, servoB, VOLminus, and VOLplus.

Referenced by loop().

◆ idle()

void idle ( void )

Definition at line 35 of file main.cpp.

References chassis, Servo32U4Pin5::detach(), Servo32U4Pin6::detach(), Chassis::idle(), ROBOT_IDLE, robotState, servoA, and servoB.

Referenced by handleKeyPress(), and setup().

◆ loop()

void loop ( )

Definition at line 127 of file main.cpp.

References decoder, IRDecoder::getKeyCode(), handleKeyPress(), and robotState.

◆ setup()

void setup ( )

Definition at line 100 of file main.cpp.

References Servo32U4Pin5::attach(), Servo32U4Pin6::attach(), chassis, decoder, idle(), Chassis::init(), IRDecoder::init(), servoA, servoB, and Chassis::setMotorPIDcoeffs().

Variable Documentation

◆ chassis

Chassis chassis(7.0, 1440, 14.9)	(	7.	0,
		1440	,
		14.	9
	)

Demonstration of controlling two servos simultanesouly. See documentation for servo.h/.cpp for more details.

Referenced by idle(), and setup().

◆ decoder

IRDecoder decoder(IR_DETECTOR_PIN) ( IR_DETECTOR_PIN )

Referenced by loop(), and setup().

◆ IR_DETECTOR_PIN

const uint8_t IR_DETECTOR_PIN = 1

Definition at line 27 of file main.cpp.

◆ robotState

ROBOT_STATE robotState = ROBOT_IDLE

Definition at line 32 of file main.cpp.

Referenced by adjustServos(), handleKeyPress(), idle(), and loop().

◆ servoA

Servo32U4Pin5 servoA

Definition at line 23 of file main.cpp.

Referenced by adjustServos(), handleKeyPress(), idle(), and setup().

◆ servoB

Servo32U4Pin6 servoB

Definition at line 24 of file main.cpp.