miniQ.h

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* Software License Agreement (BSD License)
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* Author: Gonçalo Cabrita on 20/08/2012
*********************************************************************/

#include <cereal_port/CerealPort.h>

#define MSG_LENGTH 64

#define MINIQ_RATE 3.0

class miniQ
{
public:
    
    typedef enum _miniQaction {
        
        // Get version
        MQ_ACTION_GET_VERSION = 1,
        // Actuate the robot
        MQ_ACTION_DRIVE = 2,
        MQ_ACTION_DRIVE_DIRECT = 3,
        // Get robot sensors
        MQ_ACTION_GET_ODOMETRY = 4,
        MQ_ACTION_GET_ENCODER_PULSES = 5,
        MQ_ACTION_GET_WHEEL_VELOCITIES = 6,
        MQ_ACTION_GET_GAS_SENSOR = 7,
        MQ_ACTION_GET_IR_BUMPER = 8,
        MQ_ACTION_GET_LINE_SENSOR = 9,
        MQ_ACTION_GET_BATTERY = 10,
        // Debug mode
        MQ_ACTION_GET_DEBUG = 11,
        MQ_ACTION_SET_DEBUG = 12,
        // Configuration
        MQ_ACTION_SET_PID_GAINS = 13,
        MQ_ACTION_GET_PID_GAINS = 14,
        MQ_ACTION_SET_ODOMETRY_CALIBRATION = 15,
        MQ_ACTION_GET_ODOMETRY_CALIBRATION = 16,
        MQ_ACTION_SET_ID = 17,
        MQ_ACTION_GET_ID = 18,
        MQ_ACTION_SET_MODE = 19,
        MQ_ACTION_GET_MODE = 20,
        MQ_ACTION_SET_GAS_CALIBRATION = 21,
        MQ_ACTION_GET_GAS_CALIBRATION = 22,
        MQ_ACTION_SET_BATTERY_TYPE = 23,
        MQ_ACTION_GET_BATTERY_TYPE = 24,
        MQ_ACTION_SET_TIMEOUT = 25,
        MQ_ACTION_GET_TIMEOUT = 26,
        // Group messages
        // Group 1 - Odometry, gas sensor
        MQ_ACTION_GET_GROUP_1 = 27,
        // Group 2 - Odometry, gas sensor, IR bumper
        MQ_ACTION_GET_GROUP_2 = 28,
        MQ_ACTION_COUNT = 29
        
    } miniQaction;

    typedef enum _miniQPID
    {
        LeftStartingPID = 0,
        LeftRunningPID = 1,
        RightStartingPID = 2,   
        RightRunningPID = 3

    } miniQPID;
    
    miniQ();
    ~miniQ();
    
    static bool openPort(char * port, int baudrate);
    
    bool checkVersion();
    
    void setVelocities(double linear_velocity, double angular_velocity);
    
    bool update();
    
    bool updateVelocities();
    
    double getX(){ return x_; }
    double getY(){ return y_; }
    double getYaw(){ return yaw_; }
    double getLinearVelocity(){ return linear_velocity_; }
    double getAngularVelocity(){ return angular_velocity_; }
    double getLeftWheelVelocity(){ return left_wheel_velocity_; }
    double getRightWheelVelocity(){ return right_wheel_velocity_; }
    double getGas(){ return gas_; }
    double getRawGas(){ return gas_raw_; }

    static int scanForId(int id);

    void setId(int id);
    int getID(){ return id_; };

    bool setMode(int mode);
    bool setBatteryType(int battery_type);
    bool setPIDGains(int kp, int ki, int kd, miniQPID pid);
    bool setOdometryCallibration(double odometry_d, double odometry_yaw);
    bool setGasSensorCallibration(double a, double b);
    bool setTimeout(double timeout);

    void setPWM(int left_pwm, int left_dir, int right_pwm, int right_dir);

    bool updateWheelVelocities();
    
private:
    
    // RobChair variables
    double x_;
    double y_;
    double yaw_;
    double linear_velocity_;
    double angular_velocity_;
    double left_wheel_velocity_;
    double right_wheel_velocity_;

    double gas_;
    double gas_raw_;

    int id_;
    
    static cereal::CerealPort serial_port;
};

// EOF