mrm-node.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define CAN_ID_NODE0_IN 0x170
#define CAN_ID_NODE0_OUT 0x171
#define CAN_ID_NODE1_IN 0x172
#define CAN_ID_NODE1_OUT 0x173
#define CAN_ID_NODE2_IN 0x174
#define CAN_ID_NODE2_OUT 0x175
#define CAN_ID_NODE3_IN 0x176
#define CAN_ID_NODE3_OUT 0x177
#define CAN_ID_NODE4_IN 0x178
#define CAN_ID_NODE4_OUT 0x179
#define CAN_ID_NODE5_IN 0x17A
#define CAN_ID_NODE5_OUT 0x17B
#define CAN_ID_NODE6_IN 0x17C
#define CAN_ID_NODE6_OUT 0x17D
#define CAN_ID_NODE7_IN 0x17E
#define CAN_ID_NODE7_OUT 0x17F
 
#define MRM_NODE_ANALOG_COUNT 9
#define MRM_NODE_SWITCHES_COUNT 5
#define MRM_NODE_SERVO_COUNT 3
 
//CANBus commands
#define COMMAND_NODE_SENDING_SENSORS_1_TO_3 0x04
#define COMMAND_NODE_SENDING_SENSORS_4_TO_6 0x05
#define COMMAND_NODE_SENDING_SENSORS_7_TO_9 0x06
#define COMMAND_NODE_SWITCH_ON 0x07
#define COMMAND_NODE_SERVO_SET 0x08
 
 
class Mrm_node : public SensorBoard
{
    std::vector<uint16_t[MRM_NODE_ANALOG_COUNT]>* readings; // Analog readings of all sensors
    std::vector<bool[MRM_NODE_SWITCHES_COUNT]>* switches;
    std::vector<uint16_t[MRM_NODE_SERVO_COUNT]>* servoDegrees;// = { 0xFFFF, 0xFFFF, 0xFFFF };
    
public:
 
    Mrm_node(Robot* robot = NULL, uint8_t maxNumberOfBoards = 2);
 
    ~Mrm_node();
 
    void add(char * deviceName = (char*)"");
 
    bool messageDecode(uint32_t canId, uint8_t data[8]);
 
    uint16_t reading(uint8_t receiverNumberInSensor, uint8_t sensorNumber = 0);
 
    void readingsPrint();
 
    void servoTest();
 
    void servoWrite(uint8_t servoNumber, uint16_t degrees, uint8_t deviceNumber = 0);
 
    bool switchRead (uint8_t switchNumber, uint8_t deviceNumber = 0);
 
    void test();
 
};