#include "cereal_port/CerealPort.h"

Include dependency graph for OpenInterface.h:

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Classes
class	irobot::OpenInterface
	C++ class implementation of the iRobot OI. More...
Namespaces
namespace	irobot
Defines
#define	BUTTON_CLEAN 0
#define	BUTTON_CLOCK 7
#define	BUTTON_DAY 5
#define	BUTTON_DOCK 2
#define	BUTTON_HOUR 4
#define	BUTTON_MINUTE 3
#define	BUTTON_SCHEDULE 6
#define	BUTTON_SPOT 1
#define	CENTER_LEFT 4
#define	CENTER_RIGHT 5
#define	FORCE_FIELD 161
#define	FRONT_LEFT 2
#define	FRONT_RIGHT 3
#define	GREEN_BUOY 164
#define	GREEN_BUOY_FORCE_FIELD 165
#define	LEFT 0
#define	MAIN_BRUSH 2
#define	MAX(a, b) ((a > b) ? (a) : (b))
#define	MAX_PATH 32
#define	MIN(a, b) ((a < b) ? (a) : (b))
#define	NORMALIZE(z) atan2(sin(z), cos(z))
#define	OI_CHARGING_CHARGING 2
#define	OI_CHARGING_ERROR 5
#define	OI_CHARGING_NO 0
#define	OI_CHARGING_RECOVERY 1
#define	OI_CHARGING_TRICKLE 3
#define	OI_CHARGING_WAITING 4
#define	OI_DELAY_MODECHANGE_MS 20
#define	OI_MODE_FULL 3
#define	OI_MODE_OFF 0
#define	OI_MODE_PASSIVE 1
#define	OI_MODE_SAFE 2
#define	OI_PACKET_ANGLE_SIZE 2
#define	OI_PACKET_BATTERY_CAPACITY_SIZE 2
#define	OI_PACKET_BATTERY_CHARGE_SIZE 2
#define	OI_PACKET_BRUSH_MOTOR_CURRENT_SIZE 2
#define	OI_PACKET_BUMPS_DROPS_SIZE 1
#define	OI_PACKET_BUTTONS_SIZE 1
#define	OI_PACKET_CHARGE_SOURCES_SIZE 1
#define	OI_PACKET_CHARGING_STATE_SIZE 1
#define	OI_PACKET_CLIFF_FRONT_LEFT_SIGNAL_SIZE 2
#define	OI_PACKET_CLIFF_FRONT_LEFT_SIZE 1
#define	OI_PACKET_CLIFF_FRONT_RIGHT_SIGNAL_SIZE 2
#define	OI_PACKET_CLIFF_FRONT_RIGHT_SIZE 1
#define	OI_PACKET_CLIFF_LEFT_SIGNAL_SIZE 2
#define	OI_PACKET_CLIFF_LEFT_SIZE 1
#define	OI_PACKET_CLIFF_RIGHT_SIGNAL_SIZE 2
#define	OI_PACKET_CLIFF_RIGHT_SIZE 1
#define	OI_PACKET_CURRENT_SIZE 2
#define	OI_PACKET_DIRT_DETECT_SIZE 1
#define	OI_PACKET_DISTANCE_SIZE 2
#define	OI_PACKET_GROUP_0_SIZE 26
#define	OI_PACKET_GROUP_100_SIZE 80
#define	OI_PACKET_GROUP_101_SIZE 28
#define	OI_PACKET_GROUP_106_SIZE 12
#define	OI_PACKET_GROUP_107_SIZE 9
#define	OI_PACKET_GROUP_1_SIZE 10
#define	OI_PACKET_GROUP_2_SIZE 6
#define	OI_PACKET_GROUP_3_SIZE 10
#define	OI_PACKET_GROUP_4_SIZE 14
#define	OI_PACKET_GROUP_5_SIZE 12
#define	OI_PACKET_GROUP_6_SIZE 52
#define	OI_PACKET_IR_CHAR_LEFT_SIZE 1
#define	OI_PACKET_IR_CHAR_OMNI_SIZE 1
#define	OI_PACKET_IR_CHAR_RIGHT_SIZE 1
#define	OI_PACKET_LEFT_ENCODER_SIZE 2
#define	OI_PACKET_LEFT_MOTOR_CURRENT_SIZE 2
#define	OI_PACKET_LIGHT_BUMPER_CENTER_LEFT_SIZE 2
#define	OI_PACKET_LIGHT_BUMPER_CENTER_RIGHT_SIZE 2
#define	OI_PACKET_LIGHT_BUMPER_FRONT_LEFT_SIZE 2
#define	OI_PACKET_LIGHT_BUMPER_FRONT_RIGHT_SIZE 2
#define	OI_PACKET_LIGHT_BUMPER_LEFT_SIZE 2
#define	OI_PACKET_LIGHT_BUMPER_RIGHT_SIZE 2
#define	OI_PACKET_LIGHT_BUMPER_SIZE 1
#define	OI_PACKET_OI_MODE_SIZE 1
#define	OI_PACKET_REQ_LEFT_VELOCITY_SIZE 2
#define	OI_PACKET_REQ_RADIUS_SIZE 2
#define	OI_PACKET_REQ_RIGHT_VELOCITY_SIZE 2
#define	OI_PACKET_REQ_VELOCITY_SIZE 2
#define	OI_PACKET_RIGHT_ENCODER_SIZE 2
#define	OI_PACKET_RIGHT_MOTOR_CURRENT_SIZE 2
#define	OI_PACKET_SIDE_BRUSH_MOTOR_CURRENT_SIZE 2
#define	OI_PACKET_SONG_NUMBER_SIZE 1
#define	OI_PACKET_SONG_PLAYING_SIZE 1
#define	OI_PACKET_STASIS_SIZE 1
#define	OI_PACKET_STREAM_PACKETS_SIZE 1
#define	OI_PACKET_TEMPERATURE_SIZE 1
#define	OI_PACKET_VIRTUAL_WALL_SIZE 1
#define	OI_PACKET_VOLTAGE_SIZE 2
#define	OI_PACKET_WALL_SIGNAL_SIZE 2
#define	OI_PACKET_WALL_SIZE 1
#define	OI_PACKET_WHEEL_OVERCURRENTS_SIZE 1
#define	OMNI 2
#define	RED_BUOY 168
#define	RED_BUOY_FORCE_FIELD 169
#define	RED_BUOY_GREEN_BUOY 172
#define	RED_BUOY_GREEN_BUOY_FORCE_FIELD 173
#define	RIGHT 1
#define	ROOMBA_AXLE_LENGTH 0.235
#define	ROOMBA_BUMPER_X_OFFSET 0.050
#define	ROOMBA_DIAMETER 0.330
#define	ROOMBA_MAX_ANG_VEL_RAD_S 2
#define	ROOMBA_MAX_ENCODER_COUNTS 65535
	Roomba max encoder counts.
#define	ROOMBA_MAX_LIN_VEL_MM_S 500
#define	ROOMBA_MAX_RADIUS_MM 2000
#define	ROOMBA_PULSES_TO_M 0.000445558279992234
	Roomba encoder pulses to meter constant.
#define	SIDE_BRUSH 3
#define	VIRTUAL_WALL 162
Typedefs
typedef enum irobot::_OI_Opcode	irobot::OI_Opcode
	OI op codes.
typedef enum irobot::_OI_Packet_ID	irobot::OI_Packet_ID
	OI packet id.
Enumerations
enum	irobot::_OI_Opcode { irobot::OI_OPCODE_START = 128, irobot::OI_OPCODE_BAUD = 129, irobot::OI_OPCODE_CONTROL = 130, irobot::OI_OPCODE_SAFE = 131, irobot::OI_OPCODE_FULL = 132, irobot::OI_OPCODE_POWER = 133, irobot::OI_OPCODE_SPOT = 134, irobot::OI_OPCODE_CLEAN = 135, irobot::OI_OPCODE_MAX = 136, irobot::OI_OPCODE_DRIVE = 137, irobot::OI_OPCODE_MOTORS = 138, irobot::OI_OPCODE_LEDS = 139, irobot::OI_OPCODE_SONG = 140, irobot::OI_OPCODE_PLAY = 141, irobot::OI_OPCODE_SENSORS = 142, irobot::OI_OPCODE_FORCE_DOCK = 143, irobot::OI_OPCODE_PWM_MOTORS = 144, irobot::OI_OPCODE_DRIVE_DIRECT = 145, irobot::OI_OPCODE_DRIVE_PWM = 146, irobot::OI_OPCODE_STREAM = 148, irobot::OI_OPCODE_QUERY = 149, irobot::OI_OPCODE_PAUSE_RESUME_STREAM = 150, irobot::OI_OPCODE_SCHEDULE_LEDS = 162, irobot::OI_OPCODE_DIGIT_LEDS_RAW = 163, irobot::OI_OPCODE_DIGIT_LEDS_ASCII = 164, irobot::OI_OPCODE_BUTTONS = 165, irobot::OI_OPCODE_SCHEDULE = 167, irobot::OI_OPCODE_SET_DAY_TIME = 168 }
	OI op codes. More...
enum	irobot::_OI_Packet_ID { irobot::OI_PACKET_GROUP_0 = 0, irobot::OI_PACKET_GROUP_1 = 1, irobot::OI_PACKET_GROUP_2 = 2, irobot::OI_PACKET_GROUP_3 = 3, irobot::OI_PACKET_GROUP_4 = 4, irobot::OI_PACKET_GROUP_5 = 5, irobot::OI_PACKET_GROUP_6 = 6, irobot::OI_PACKET_GROUP_100 = 100, irobot::OI_PACKET_GROUP_101 = 101, irobot::OI_PACKET_GROUP_106 = 106, irobot::OI_PACKET_GROUP_107 = 107, irobot::OI_PACKET_BUMPS_DROPS = 7, irobot::OI_PACKET_WALL = 8, irobot::OI_PACKET_CLIFF_LEFT = 9, irobot::OI_PACKET_CLIFF_FRONT_LEFT = 10, irobot::OI_PACKET_CLIFF_FRONT_RIGHT = 11, irobot::OI_PACKET_CLIFF_RIGHT = 12, irobot::OI_PACKET_VIRTUAL_WALL = 13, irobot::OI_PACKET_WHEEL_OVERCURRENTS = 14, irobot::OI_PACKET_DIRT_DETECT = 15, irobot::OI_PACKET_IR_CHAR_OMNI = 17, irobot::OI_PACKET_BUTTONS = 18, irobot::OI_PACKET_DISTANCE = 19, irobot::OI_PACKET_ANGLE = 20, irobot::OI_PACKET_CHARGING_STATE = 21, irobot::OI_PACKET_VOLTAGE = 22, irobot::OI_PACKET_CURRENT = 23, irobot::OI_PACKET_TEMPERATURE = 24, irobot::OI_PACKET_BATTERY_CHARGE = 25, irobot::OI_PACKET_BATTERY_CAPACITY = 26, irobot::OI_PACKET_WALL_SIGNAL = 27, irobot::OI_PACKET_CLIFF_LEFT_SIGNAL = 28, irobot::OI_PACKET_CLIFF_FRONT_LEFT_SIGNAL = 29, irobot::OI_PACKET_CLIFF_FRONT_RIGHT_SIGNAL = 30, irobot::OI_PACKET_CLIFF_RIGHT_SIGNAL = 31, irobot::OI_PACKET_CHARGE_SOURCES = 34, irobot::OI_PACKET_OI_MODE = 35, irobot::OI_PACKET_SONG_NUMBER = 36, irobot::OI_PACKET_SONG_PLAYING = 37, irobot::OI_PACKET_STREAM_PACKETS = 38, irobot::OI_PACKET_REQ_VELOCITY = 39, irobot::OI_PACKET_REQ_RADIUS = 40, irobot::OI_PACKET_REQ_RIGHT_VELOCITY = 41, irobot::OI_PACKET_REQ_LEFT_VELOCITY = 42, irobot::OI_PACKET_RIGHT_ENCODER = 43, irobot::OI_PACKET_LEFT_ENCODER = 44, irobot::OI_PACKET_LIGHT_BUMPER = 45, irobot::OI_PACKET_LIGHT_BUMPER_LEFT = 46, irobot::OI_PACKET_LIGHT_BUMPER_FRONT_LEFT = 47, irobot::OI_PACKET_LIGHT_BUMPER_CENTER_LEFT = 48, irobot::OI_PACKET_LIGHT_BUMPER_CENTER_RIGHT = 49, irobot::OI_PACKET_LIGHT_BUMPER_FRONT_RIGHT = 50, irobot::OI_PACKET_LIGHT_BUMPER_RIGHT = 51, irobot::OI_PACKET_IR_CHAR_LEFT = 52, irobot::OI_PACKET_IR_CHAR_RIGHT = 53, irobot::OI_PACKET_LEFT_MOTOR_CURRENT = 54, irobot::OI_PACKET_RIGHT_MOTOR_CURRENT = 55, irobot::OI_PACKET_BRUSH_MOTOR_CURRENT = 56, irobot::OI_PACKET_SIDE_BRUSH_MOTOR_CURRENT = 57, irobot::OI_PACKET_STASIS = 58 }
	OI packet id. More...