Programming iRobot Create

• EXAMPLE --> RDC2013_v1_main.cpp

• download MS Visual Studio 2008 Express ให้เลือก Visual C++ 2008 Express Edition with SP1 และเลือกภาษา English แล้วกด Download (ต้องใช้ version 2008 เท่านั้น)

• download iRobot Create package v1

• download State Machine Demo v2

• download Timing Demo v3

• Slide สำหรับ state machine (http://www.nattee.net/files-dae/State_Machine.pptx)

• Slide สำหรับเนื้อหาในวันที่ 25 download ที่นี่<

• Driver ของ USB to Serial อันที่แจกให้

[code lang="c++"]

#include <stdio.h> #include

#include "RobotConnector.h"

#include "cv.h" #include "highgui.h"

using namespace std;

#define Create_Comport "COM4"

bool isRecord = false;

int main() { CreateData robotData; RobotConnector robot;

ofstream	record;
record.open("../data/robot.txt");

if( !robot.Connect(Create_Comport) )
{
	cout << "Error : Can't connect to robot @" << Create_Comport << endl;
	return -1;
}

robot.DriveDirect(0, 0);
cvNamedWindow("Robot");


while(true)
{
	cvWaitKey(30);
	double vx, vz;
	vx = vz = 0;


	if (robotData.bumper[0]) {
		cout << "bump left" << endl;
	}
	if (robotData.bumper[1]) {
		cout << "bump right" << endl;
	}


	double vl = vx - vz;
	double vr = vx + vz;

	int velL = (int)(vl*Create_MaxVel);
	int velR = (int)(vr*Create_MaxVel);

	int color = (abs(velL)+abs(velR))/4;
	color = (color < 0) ? 0 : (color > 255) ? 255 : color;

	int inten = (robotData.cliffSignal[1] + robotData.cliffSignal[2])/8 - 63;
	inten = (inten < 0) ? 0 : (inten > 255) ? 255 : inten;

	//cout << color << " " << inten << " " << robotData.cliffSignal[1] << " " << robotData.cliffSignal[2] << endl;

	robot.LEDs(velL > 0, velR > 0, color, inten);
	
	if( !robot.DriveDirect(velL, velR) )
		cout << "SetControl Fail" << endl;

	if( !robot.ReadData(robotData) ) {
		//cout << "ReadData Fail" << endl;
	}

	if( isRecord )
		record << robotData.cliffSignal[0] << "\t" << robotData.cliffSignal[1] << "\t" << robotData.cliffSignal[2] << "\t" << robotData.cliffSignal[3] << endl;
	
	cout << "Robot " << robotData.cliffSignal[0] << endl;
}

robot.Disconnect();

return 0;

} [/code]