roomba.h

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#ifndef ROOMBA_H_
#define ROOMBA_H_

#ifndef XPLAINED
//#error "Roomba.h can only be used with the Xplained board"
#endif

#include <stdint.h>


#define START           128
#define CONTROL_MODE    130
#define SAFE_MODE       131
#define FULL_MODE       132
#define POWER           133
#define DRIVE           137
#define SONG            140
#define PLAY            141
#define SENSORS         142
#define QUERYLIST       149

#define SENSOR_ALL_DATA 0
#define SENSOR_SUB_1    1
#define SENSOR_SUB_2    2
#define SENSOR_SUB_3    3

#define ROOMBA_SPEED    250
#define ROOMBA_TURN     150
#define TURN_RADIUS     400
#define AUTOTURN_RADIUS 350
#define DRIVE_STRAIGHT  32768
#define IN_PLACE_CW     -1
#define IN_PLACE_CCW     1

void Roomba_Init(void);

void Roomba_Drive(int16_t velocity, int16_t radius);

void Roomba_Play(uint8_t song);

void Roomba_Sensors(uint8_t packet_id);

void Roomba_QueryList(uint8_t packet1, uint8_t packet2);

void Roomba_Song(uint8_t n);

#endif /* ROOMBA_H_ */