Kobuki 1.0.0
C++ API for the Kobuki research robot
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core_sensors.hpp
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1
9/*****************************************************************************
10** Preprocessor
11*****************************************************************************/
12
13#ifndef KOBUKI_CORE_CORE_SENSORS_HPP__
14#define KOBUKI_CORE_CORE_SENSORS_HPP__
15
16/*****************************************************************************
17** Include
18*****************************************************************************/
19
20#include "../packet_handler/payload_base.hpp"
21#include "../macros.hpp"
22#include <stdint.h>
23
24/*****************************************************************************
25** Namespaces
26*****************************************************************************/
27
28namespace kobuki
29{
30
31/*****************************************************************************
32** Interface
33*****************************************************************************/
34
35class kobuki_PUBLIC CoreSensors : public packet_handler::payloadBase
36{
37public:
38 CoreSensors() : packet_handler::payloadBase(false, 15) {};
39
40 struct Data {
41 uint16_t time_stamp;
42 uint8_t bumper;
43 uint8_t wheel_drop;
44 uint8_t cliff;
45 uint16_t left_encoder;
46 uint16_t right_encoder;
47 char left_pwm;
48 char right_pwm;
49 uint8_t buttons;
50 uint8_t charger;
51 uint8_t battery;
52 uint8_t over_current;
53 } data;
54
55 struct Flags {
56 // buttons
57 static const uint8_t Button0 = 0x01;
58 static const uint8_t Button1 = 0x02;
59 static const uint8_t Button2 = 0x04;
60
61 // bumper
62 static const uint8_t LeftBumper = 0x04;
63 static const uint8_t CenterBumper = 0x02;
64 static const uint8_t RightBumper = 0x01;
65
66 // cliff sensor
67 static const uint8_t LeftCliff = 0x04;
68 static const uint8_t CenterCliff = 0x02;
69 static const uint8_t RightCliff = 0x01;
70
71 // wheel drop sensor
72 static const uint8_t LeftWheel = 0x02;
73 static const uint8_t RightWheel = 0x01;
74
75 // Charging source
76 // - first four bits distinguish between adapter or docking base charging
77 static const uint8_t AdapterType = 0x10;
78 // - last 4 bits specified the charging status (see Battery.hpp for details)
79 static const uint8_t BatteryStateMask = 0x0F;
80 static const uint8_t Discharging = 0x00;
81 static const uint8_t Charged = 0x02;
82 static const uint8_t Charging = 0x06;
83
84 // wheel drop sensor
85 static const uint8_t LeftWheel_OC = 0x01;
86 static const uint8_t RightWheel_OC = 0x02;
87
88 };
89
90 bool serialise(ecl::PushAndPop<unsigned char> & byteStream);
91 bool deserialise(ecl::PushAndPop<unsigned char> & byteStream);
92};
93
94} // namespace kobuki
95
96#endif /* KOBUKI_CORE_CORE_SENSORS_HPP__ */
kobuki::CoreSensors
Definition core_sensors.hpp:36
packet_handler::payloadBase
Provides base class for payloads.
Definition payload_base.hpp:39
kobuki::CoreSensors::Data
Definition core_sensors.hpp:40
kobuki::CoreSensors::Flags
Definition core_sensors.hpp:55