#include <create.h>

Public Member Functions
bool	clean (const create::CleanMode &mode=CLEAN_DEFAULT)
	Starts a cleaning mode. Changes mode to MODE_PASSIVE.
bool	connect (const std::string &port, const int &baud)
	Make a serial connection to Create.
bool	connected () const
	Check if serial connection is active.
	Create (RobotModel model=RobotModel::CREATE_2)
	Default constructor.
	Create (const std::string &port, const int &baud, RobotModel model=RobotModel::CREATE_2)
	Attempts to establish serial connection to Create.
bool	defineSong (const uint8_t &songNumber, const uint8_t &songLength, const uint8_t notes, const float durations) const
	Defines a song from the provided notes and labels it with a song number.
void	disconnect ()
	Disconnect from serial.
bool	dock () const
	Starts the docking behaviour. Changes mode to MODE_PASSIVE.
bool	drive (const float &xVel, const float &angularVel)
	Set the forward and angular velocity of Create.
bool	driveRadius (const float &velocity, const float &radius)
	Set the average wheel velocity and turning radius of Create.
bool	driveWheels (const float &leftWheel, const float &rightWheel)
	Set the velocities for the left and right wheels.
bool	driveWheelsPwm (const float &leftWheel, const float &rightWheel)
	Set the direct for the left and right wheels.
bool	enableCheckRobotLED (const bool &enable)
	Set the orange "check Create" LED on/off.
bool	enableDebrisLED (const bool &enable)
	Set the blue "debris" LED on/off.
bool	enableDockLED (const bool &enable)
	Set the green "dock" LED on/off.
bool	enableSpotLED (const bool &enable)
	Set the green "spot" LED on/off.
float	getBatteryCapacity () const
	Get estimated battery charge capacity.
float	getBatteryCharge () const
	Get battery's remaining charge.
create::ChargingState	getChargingState () const
	Get the current charging state.
float	getCurrent () const
	Get current flowing in/out of battery. A positive current implies Create is charging.
uint8_t	getDirtDetect () const
	Get level of the dirt detect sensor.
uint8_t	getIRLeft () const
	Get value of 8-bit IR character currently being received by left sensor.
uint8_t	getIROmni () const
	Get value of 8-bit IR character currently being received by omnidirectional sensor.
uint8_t	getIRRight () const
	Get value of 8-bit IR character currently being received by right sensor.
float	getLeftWheelDistance () const
	Get the total distance the left wheel has moved.
uint16_t	getLightSignalCenterLeft () const
	Get the signal strength from the center-left light sensor.
uint16_t	getLightSignalCenterRight () const
	Get the signal strength from the center-right light sensor.
uint16_t	getLightSignalFrontLeft () const
	Get the signal strength from the front-left light sensor.
uint16_t	getLightSignalFrontRight () const
	Get the signal strength from the front-right light sensor.
uint16_t	getLightSignalLeft () const
	Get the signal strength from the left light sensor.
uint16_t	getLightSignalRight () const
	Get the signal strength from the right light sensor.
float	getMeasuredLeftWheelVel () const
	Get the measured velocity of the left wheel.
float	getMeasuredRightWheelVel () const
	Get the measured velocity of the right wheel.
create::CreateMode	getMode ()
	Get the current mode reported by Create.
uint64_t	getNumCorruptPackets () const
	Get the number of corrupt serial packets since first connecting to Create. This value is ideally zero. If the number is consistently increasing then chances are some sensor information is not being updated.
create::Pose	getPose () const
	Get the estimated pose of Create based on wheel encoders.
float	getRequestedLeftWheelVel () const
	Get the requested velocity of the left wheel. This value is bounded at the maximum velocity of the robot model.
float	getRequestedRightWheelVel () const
	Get the requested velocity of the right wheel. This value is bounded at the maximum velocity of the robot model.
float	getRightWheelDistance () const
	Get the total distance the right wheel has moved.
int8_t	getTemperature () const
	Get the temperature of battery.
uint64_t	getTotalPackets () const
	Get the total number of serial packets received (including corrupt packets) since first connecting to Create.
create::Vel	getVel () const
	Get the estimated velocity of Create based on wheel encoders.
float	getVoltage () const
	Get battery voltage.
bool	isCleanButtonPressed () const
	Get state of 'clean' button ('play' button on Create 1).
bool	isCliff () const
bool	isClockButtonPressed () const
	Not supported by any firmware!
bool	isDayButtonPressed () const
	Get state of 'day' button.
bool	isDockButtonPressed () const
	Get state of 'dock' button ('advance' button on Create 1).
bool	isHourButtonPressed () const
	Get state of 'hour' button.
bool	isLeftBumper () const
bool	isLightBumperCenterLeft () const
bool	isLightBumperCenterRight () const
bool	isLightBumperFrontLeft () const
bool	isLightBumperFrontRight () const
bool	isLightBumperLeft () const
bool	isLightBumperRight () const
bool	isMainBrushOvercurrent () const
bool	isMinButtonPressed () const
	Get state of 'min' button.
bool	isMovingForward () const
bool	isRightBumper () const
bool	isScheduleButtonPressed () const
	Not supported by any firmware!
bool	isSideBrushOvercurrent () const
bool	isSpotButtonPressed () const
	Get state of 'spot' button.
bool	isVirtualWall () const
bool	isWall () const
bool	isWheeldrop () const
bool	isWheelOvercurrent () const
bool	playSong (const uint8_t &songNumber) const
	Play a previously created song. This command will not work if a song was not already defined with the specified song number.
bool	setAllMotors (const float &mainPower, const float &sidePower, const float &vacuumPower)
	Set the power of all motors.
bool	setDate (const create::DayOfWeek &day, const uint8_t &hour, const uint8_t &min) const
	Sets the internal clock of Create.
bool	setDigits (const std::vector< bool > &segments) const
	Set the four 7-segment display digits from left to right.
bool	setDigitsASCII (const uint8_t &digit1, const uint8_t &digit2, const uint8_t &digit3, const uint8_t &digit4) const
	Set the four 7-segment display digits from left to right with ASCII codes. Any code out side the accepted ascii ranges results in blank display.
bool	setMainMotor (const float &power)
	Set the power to the main brush motor.
bool	setMode (const create::CreateMode &mode)
	Change Create mode.
bool	setPowerLED (const uint8_t &power, const uint8_t &intensity=255)
	Set the center power LED.
bool	setSideMotor (const float &power)
	Set the power to the side brush motor.
bool	setVacuumMotor (const float &power)
	Set the power to the vacuum motor.
	~Create ()
	Attempts to disconnect from serial.
Protected Attributes
boost::shared_ptr< create::Data >	data
boost::shared_ptr< create::Serial >	serial
Private Types
enum	CreateLED { LED_DEBRIS = 1, LED_SPOT = 2, LED_DOCK = 4, LED_CHECK = 8 }
typedef boost::numeric::ublas::matrix < float >	Matrix
Private Member Functions
Matrix	addMatrices (const Matrix &A, const Matrix &B) const
void	init ()
void	onData ()
bool	updateLEDs ()
Private Attributes
uint8_t	checkLED
uint8_t	debrisLED
uint8_t	dockLED
bool	firstOnData
uint8_t	mainMotorPower
float	measuredLeftVel
float	measuredRightVel
CreateMode	mode
RobotModel	model
create::Pose	pose
Matrix	poseCovar
uint8_t	powerLED
uint8_t	powerLEDIntensity
util::timestamp_t	prevOnDataTime
uint32_t	prevTicksLeft
uint32_t	prevTicksRight
float	requestedLeftVel
float	requestedRightVel
uint8_t	sideMotorPower
uint8_t	spotLED
float	totalLeftDist
float	totalRightDist
uint8_t	vacuumMotorPower
create::Vel	vel

Detailed Description

Definition at line 47 of file create.h.

Member Typedef Documentation

typedef boost::numeric::ublas::matrix<float> create::Create::Matrix [private]

Definition at line 49 of file create.h.

Member Enumeration Documentation

enum create::Create::CreateLED [private]

Enumerator:

LED_DEBRIS
LED_SPOT
LED_DOCK
LED_CHECK

Definition at line 51 of file create.h.

Constructor & Destructor Documentation

create::Create::Create ( RobotModel model = RobotModel::CREATE_2 )

Default constructor.

Calling this constructor Does not attempt to establish a serial connection to the robot.

Parameters:

model the type of the robot. See RobotModel to determine the value for your robot.

Definition at line 55 of file create.cpp.

create::Create::Create	(	const std::string &	port,
		const int &	baud,
		RobotModel	model = `RobotModel::CREATE_2`
	)

Attempts to establish serial connection to Create.

Parameters:

port	of your computer that is connected to Create.
baud	rate to communicate with Create. Typically, 115200 for Create 2 and 57600 for Create 1.
model	type of robot. See RobotModel to determine the value for your robot.

Definition at line 59 of file create.cpp.

create::Create::~Create ( )

Attempts to disconnect from serial.

Definition at line 64 of file create.cpp.

Member Function Documentation

Create::Matrix create::Create::addMatrices	(	const Matrix &	A,
		const Matrix &	B
	)		const `[private]`

Definition at line 68 of file create.cpp.

bool create::Create::clean ( const create::CleanMode & mode = CLEAN_DEFAULT )

Starts a cleaning mode. Changes mode to MODE_PASSIVE.

Returns:: true if successful, false otherwise

Definition at line 340 of file create.cpp.

bool create::Create::connect	(	const std::string &	port,
		const int &	baud
	)

Make a serial connection to Create.

This is the first thing that should be done after instantiated this class.

Returns:: true if a successful connection is established, false otherwise.

Definition at line 272 of file create.cpp.

bool create::Create::connected ( ) const [inline]

Check if serial connection is active.

Returns:: true if successfully connected, false otherwise.

Definition at line 140 of file create.h.

bool create::Create::defineSong	(	const uint8_t &	songNumber,
		const uint8_t &	songLength,
		const uint8_t *	notes,
		const float *	durations
	)		const

Defines a song from the provided notes and labels it with a song number.

Parameters:

songNumber	can be one of four possible song slots, [0, 4]
songLength	is the number of notes, maximum 16. length(notes) = length(durations) = songLength should be true.
notes	is a sequence of notes. Each note is in the range [31, 127]. Anything outside this range is considered a rest note.
durations	for each note in fractions of a second from the range [0, 4)

Returns:: true if successful, false otherwise

Definition at line 560 of file create.cpp.

void create::Create::disconnect ( )

Disconnect from serial.

Definition at line 293 of file create.cpp.

bool create::Create::dock ( ) const

Starts the docking behaviour. Changes mode to MODE_PASSIVE.

Returns:: true if successful, false otherwise

Definition at line 344 of file create.cpp.

bool create::Create::drive	(	const float &	xVel,
		const float &	angularVel
	)

Set the forward and angular velocity of Create.

Parameters:

xVel	in m/s
angularVel	in rads/s

Returns:: true if successful, false otherwise

Definition at line 451 of file create.cpp.

bool create::Create::driveRadius	(	const float &	velocity,
		const float &	radius
	)

Set the average wheel velocity and turning radius of Create.

Parameters:

velocity	is in m/s bounded between [-0.5, 0.5]
radius	in meters. Special cases: drive straight = CREATE_2_STRAIGHT_RADIUS, turn in place counter-clockwise = CREATE_2_IN_PLACE_RADIUS, turn in place clockwise = -CREATE_2_IN_PLACE_RADIUS

Returns:: true if successful, false otherwise

Definition at line 358 of file create.cpp.

bool create::Create::driveWheels	(	const float &	leftWheel,
		const float &	rightWheel
	)

Set the velocities for the left and right wheels.

Parameters:

leftWheel	velocity in m/s.
rightWheel	veloctiy in m/s.

Returns:: true if successful, false otherwise

Definition at line 382 of file create.cpp.

bool create::Create::driveWheelsPwm	(	const float &	leftWheel,
		const float &	rightWheel
	)

Set the direct for the left and right wheels.

Parameters:

leftWheel	pwm in the range [-1, 1]
rightWheel	pwm in the range [-1, 1]

Returns:: true if successful, false otherwise

Definition at line 430 of file create.cpp.

bool create::Create::enableCheckRobotLED ( const bool & enable )

Set the orange "check Create" LED on/off.

Parameters:

enable

Returns:: true if successful, false otherwise

Definition at line 524 of file create.cpp.

bool create::Create::enableDebrisLED ( const bool & enable )

Set the blue "debris" LED on/off.

Parameters:

enable

Returns:: true if successful, false otherwise

Definition at line 500 of file create.cpp.

bool create::Create::enableDockLED ( const bool & enable )

Set the green "dock" LED on/off.

Parameters:

enable

Returns:: true if successful, false otherwise

Definition at line 516 of file create.cpp.

bool create::Create::enableSpotLED ( const bool & enable )

Set the green "spot" LED on/off.

Parameters:

enable

Returns:: true if successful, false otherwise

Definition at line 508 of file create.cpp.

float create::Create::getBatteryCapacity ( ) const

Get estimated battery charge capacity.

Returns:: in amp-hours

Definition at line 833 of file create.cpp.

float create::Create::getBatteryCharge ( ) const

Get battery's remaining charge.

Returns:: value in amp-hours

Definition at line 823 of file create.cpp.

ChargingState create::Create::getChargingState ( ) const

Get the current charging state.

Returns:: charging state.

Definition at line 696 of file create.cpp.

float create::Create::getCurrent ( ) const

Get current flowing in/out of battery. A positive current implies Create is charging.

Returns:: value in amps

Definition at line 803 of file create.cpp.

uint8_t create::Create::getDirtDetect ( ) const

Get level of the dirt detect sensor.

Returns:: value in range [0, 255]

Definition at line 656 of file create.cpp.

uint8_t create::Create::getIRLeft ( ) const

Get value of 8-bit IR character currently being received by left sensor.

Returns:: value in range [0, 255]

Definition at line 676 of file create.cpp.

uint8_t create::Create::getIROmni ( ) const

Get value of 8-bit IR character currently being received by omnidirectional sensor.

Returns:: value in range [0, 255]

Definition at line 666 of file create.cpp.

uint8_t create::Create::getIRRight ( ) const

Get value of 8-bit IR character currently being received by right sensor.

Returns:: value in range [0, 255]

Definition at line 686 of file create.cpp.

float create::Create::getLeftWheelDistance ( ) const

Get the total distance the left wheel has moved.

Returns:: distance in meters.

Definition at line 973 of file create.cpp.

uint16_t create::Create::getLightSignalCenterLeft ( ) const

Get the signal strength from the center-left light sensor.

Returns:: value in range [0, 4095]

Definition at line 923 of file create.cpp.

uint16_t create::Create::getLightSignalCenterRight ( ) const

Get the signal strength from the center-right light sensor.

Returns:: value in range [0, 4095]

Definition at line 953 of file create.cpp.

uint16_t create::Create::getLightSignalFrontLeft ( ) const

Get the signal strength from the front-left light sensor.

Returns:: value in range [0, 4095]

Definition at line 913 of file create.cpp.

uint16_t create::Create::getLightSignalFrontRight ( ) const

Get the signal strength from the front-right light sensor.

Returns:: value in range [0, 4095]

Definition at line 943 of file create.cpp.

uint16_t create::Create::getLightSignalLeft ( ) const

Get the signal strength from the left light sensor.

Returns:: value in range [0, 4095]

Definition at line 903 of file create.cpp.

uint16_t create::Create::getLightSignalRight ( ) const

Get the signal strength from the right light sensor.

Returns:: value in range [0, 4095]

Definition at line 933 of file create.cpp.

float create::Create::getMeasuredLeftWheelVel ( ) const

Get the measured velocity of the left wheel.

Returns:: velocity in m/s

Definition at line 981 of file create.cpp.

float create::Create::getMeasuredRightWheelVel ( ) const

Get the measured velocity of the right wheel.

Returns:: velocity in m/s

Definition at line 985 of file create.cpp.

create::CreateMode create::Create::getMode ( )

Get the current mode reported by Create.

Returns:: mode.

Definition at line 997 of file create.cpp.

uint64_t create::Create::getNumCorruptPackets ( ) const

Get the number of corrupt serial packets since first connecting to Create. This value is ideally zero. If the number is consistently increasing then chances are some sensor information is not being updated.

Returns:: number of corrupt packets.

Definition at line 1012 of file create.cpp.

Pose create::Create::getPose ( ) const

Get the estimated pose of Create based on wheel encoders.

Returns:: pose (x-y position in meters and yaw angle in Radians)

Definition at line 1004 of file create.cpp.

float create::Create::getRequestedLeftWheelVel ( ) const

Get the requested velocity of the left wheel. This value is bounded at the maximum velocity of the robot model.

Returns:: requested velocity in m/s.

Definition at line 989 of file create.cpp.

float create::Create::getRequestedRightWheelVel ( ) const

Get the requested velocity of the right wheel. This value is bounded at the maximum velocity of the robot model.

Returns:: requested velocity in m/s.

Definition at line 993 of file create.cpp.

float create::Create::getRightWheelDistance ( ) const

Get the total distance the right wheel has moved.

Returns:: distance in meters.

Definition at line 977 of file create.cpp.

int8_t create::Create::getTemperature ( ) const

Get the temperature of battery.

Returns:: value in Celsius

Definition at line 813 of file create.cpp.

uint64_t create::Create::getTotalPackets ( ) const

Get the total number of serial packets received (including corrupt packets) since first connecting to Create.

Returns:: total number of serial packets.

Definition at line 1016 of file create.cpp.

Vel create::Create::getVel ( ) const

Get the estimated velocity of Create based on wheel encoders.

Returns:: velocity (x and y in m/s and angular velocity in Radians/s)

Definition at line 1008 of file create.cpp.

float create::Create::getVoltage ( ) const

Get battery voltage.

Returns:: value in volts

Definition at line 793 of file create.cpp.

void create::Create::init ( ) [private]

Definition at line 20 of file create.cpp.

bool create::Create::isCleanButtonPressed ( ) const

Get state of 'clean' button ('play' button on Create 1).

Returns:: true if button is pressed, false otherwise.

Definition at line 709 of file create.cpp.

bool create::Create::isCliff ( ) const

Returns:: true if there are any cliff detections, false otherwise.

Definition at line 630 of file create.cpp.

bool create::Create::isClockButtonPressed ( ) const

Not supported by any firmware!

Definition at line 720 of file create.cpp.

bool create::Create::isDayButtonPressed ( ) const

Get state of 'day' button.

Returns:: true if button is pressed, false otherwise.

Definition at line 743 of file create.cpp.

bool create::Create::isDockButtonPressed ( ) const

Get state of 'dock' button ('advance' button on Create 1).

Returns:: true if button is pressed, false otherwise.

Definition at line 773 of file create.cpp.

bool create::Create::isHourButtonPressed ( ) const

Get state of 'hour' button.

Returns:: true if button is pressed, false otherwise.

Definition at line 753 of file create.cpp.

bool create::Create::isLeftBumper ( ) const

Returns:: true if left bumper is pressed, false otherwise.

Definition at line 600 of file create.cpp.

bool create::Create::isLightBumperCenterLeft ( ) const

Returns:: true if center left light sensor detects an obstacle, false otherwise.

Definition at line 863 of file create.cpp.

bool create::Create::isLightBumperCenterRight ( ) const

Returns:: true if center right light sensor detects an obstacle, false otherwise.

Definition at line 873 of file create.cpp.

bool create::Create::isLightBumperFrontLeft ( ) const

Returns:: true if front left light sensor detects an obstacle, false otherwise.

Definition at line 853 of file create.cpp.

bool create::Create::isLightBumperFrontRight ( ) const

Returns:: true if front right light sensor detects an obstacle, false otherwise.

Definition at line 883 of file create.cpp.

bool create::Create::isLightBumperLeft ( ) const

Returns:: true if farthest left light sensor detects an obstacle, false otherwise.

Definition at line 843 of file create.cpp.

bool create::Create::isLightBumperRight ( ) const

Returns:: true if farthest right light sensor detects an obstacle, false otherwise.

Definition at line 893 of file create.cpp.

bool create::Create::isMainBrushOvercurrent ( ) const

Todo:: Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)

Returns:: true if main brush motor is overcurrent.

bool create::Create::isMinButtonPressed ( ) const

Get state of 'min' button.

Returns:: true if button is pressed, false otherwise.

Definition at line 763 of file create.cpp.

bool create::Create::isMovingForward ( ) const

Returns:: true if Create is moving forward, false otherwise.

Definition at line 963 of file create.cpp.

bool create::Create::isRightBumper ( ) const

Returns:: true if right bumper is pressed, false otherwise.

Definition at line 610 of file create.cpp.

bool create::Create::isScheduleButtonPressed ( ) const

Not supported by any firmware!

Definition at line 732 of file create.cpp.

bool create::Create::isSideBrushOvercurrent ( ) const

Todo:: Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)

Returns:: true if side brush motor is overcurrent.

bool create::Create::isSpotButtonPressed ( ) const

Get state of 'spot' button.

Returns:: true if button is pressed, false otherwise.

Definition at line 783 of file create.cpp.

bool create::Create::isVirtualWall ( ) const

Returns:: true if there is a virtual wall signal is being received.

Definition at line 646 of file create.cpp.

bool create::Create::isWall ( ) const

Returns:: true if wall is seen to right of Create, false otherwise.

Definition at line 620 of file create.cpp.

bool create::Create::isWheeldrop ( ) const

Returns:: true if a left or right wheeldrop is detected, false otherwise.

Definition at line 590 of file create.cpp.

bool create::Create::isWheelOvercurrent ( ) const

Todo:: Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)

Returns:: true if drive motors are overcurrent.

void create::Create::onData ( ) [private]

Definition at line 92 of file create.cpp.

bool create::Create::playSong ( const uint8_t & songNumber ) const

Play a previously created song. This command will not work if a song was not already defined with the specified song number.

Parameters:

songNumber is one of four stored songs in the range [0, 4]

Returns:: true if successful, false otherwise

Definition at line 583 of file create.cpp.

bool create::Create::setAllMotors	(	const float &	mainPower,
		const float &	sidePower,
		const float &	vacuumPower
	)

Set the power of all motors.

Parameters:

mainPower	in the range [-1, 1]
sidePower	in the range [-1, 1]
vacuumPower	in the range [0, 1]

Returns:: true if successful, false otherwise

Definition at line 458 of file create.cpp.

bool create::Create::setDate	(	const create::DayOfWeek &	day,
		const uint8_t &	hour,
		const uint8_t &	min
	)		const

Sets the internal clock of Create.

Parameters:

day	in range [0, 6]
hour	in range [0, 23]
min	in range [0, 59]

Returns:: true if successful, false otherwise

Definition at line 348 of file create.cpp.

bool create::Create::setDigits ( const std::vector< bool > & segments ) const

Set the four 7-segment display digits from left to right.

Todo:: This function is not yet implemented refer to https://github.com/AutonomyLab/libcreate/issues/7

Parameters:

segments to enable (true) or disable (false). The size of segments should be less than 29. The ordering of segments is left to right, top to bottom for each digit:

                 0           7             14            21 
               |‾‾‾|       |‾‾‾|         |‾‾‾|         |‾‾‾|  
             1 |___| 2   8 |___| 9    15 |___| 16   22 |___| 23 
               | 3 |       | 10|         | 17|         | 24|
             4 |___| 5   11|___| 12   18 |___| 19   25 |___| 26
                 6           13            20            27

Returns:: true if successful, false otherwise

bool create::Create::setDigitsASCII	(	const uint8_t &	digit1,
		const uint8_t &	digit2,
		const uint8_t &	digit3,
		const uint8_t &	digit4
	)		const

Set the four 7-segment display digits from left to right with ASCII codes. Any code out side the accepted ascii ranges results in blank display.

Parameters:

digit1	is left most digit with ascii range [32, 126]
digit2	is second to left digit with ascii range [32, 126]
digit3	is second to right digit with ascii range [32, 126]
digit4	is right most digit with ascii range [32, 126]