mrm-robot-line.h

#pragma once
#include <mrm-action.h>
#include <mrm-robot.h>
 
// Change these values to get optimal robot's behaviour.
 
// CATCH_SERVO drives jaws that catch ball.
#define CATCH_SERVO_L_CATCH 30
#define CATCH_SERVO_L_CLOSE 0 // Closed position, ball caught.
#define CATCH_SERVO_L_OPEN 90 // Open position, ready to catch a ball.
#define CATCH_SERVO_R_CATCH 60
#define CATCH_SERVO_R_CLOSE 90 // Closed position, ball caught.
#define CATCH_SERVO_R_OPEN 0 // Open position, ready to catch a ball.
 
// LIFT_SERVO lifts catch the mechanism.
#define LIFT_SERVO_DOWN 80 // Lowest position, catching a ball.
#define LIFT_SERVO_UP 120 // Top (idle) position.
 
#define LIDAR_COUNT 6 // 3 or 6, depending on model. If only 3 lidars built in, 6-mode cannot be used.
 
#define WALL_DIFFERENCE_ALLOWED_MM 50 // If difference bigger, no wall.
#define MAXIMUM_WALL_MM 300 // If distance bigger than this value, do not follow wall.
 
// mrm-8x8a display bitmaps.
enum ledSign {LED_EVACUATION_ZONE, LED_FULL_CROSSING_BOTH_MARKS, LED_FULL_CROSSING_MARK_LEFT, LED_FULL_CROSSING_MARK_RIGHT, LED_FULL_CROSSING_NO_MARK,
    LED_HALF_CROSSING_MARK_LEFT, LED_HALF_CROSSING_MARK_RIGHT, LED_HALF_CROSSING_LEFT_NO_MARK, LED_HALF_CROSSING_RIGHT_NO_MARK,
    LED_LINE_FULL, LED_LINE_FULL_BOTH_MARKS, LED_LINE_FULL_MARK_LEFT, LED_LINE_FULL_MARK_RIGHT, LED_LINE_INTERRUPTED, LED_CURVE_LEFT, 
    LED_CURVE_RIGHT, LED_OBSTACLE, LED_OBSTACLE_AROUND_LEFT, LED_OBSTACLE_AROUND_RIGHT, LED_PAUSE, LED_PLAY, LED_T_CROSSING_BY_L, 
    LED_T_CROSSING_BY_R, LED_WALL_AHEAD, LED_WALL_L, LED_WALL_R};
 
/* All the Action-classes have to be forward declared here (before RobotLine) as RobotLine declaration uses them. The other option would be
not to declare them here, but in that case Action-objects in RobotLine will have to be declared as ActionBase class, forcing downcast later in code, if
derived functions are used.*/
class ActionEvacuationZone;
class ActionObstacleAvoid;
class ActionLineFollow;
class ActionRCJLine;
 
class ActionLoop0;
class ActionLoop1;
class ActionLoop2;
class ActionLoop3;
class ActionLoop4;
class ActionLoop5;
class ActionLoop6;
class ActionLoop7;
class ActionLoop8;
class ActionLoop9;
class ActionLoopMenu;
 
class RobotLine : public Robot {
    uint16_t BIGGEST_GAP_IN_LINE_MS = 2500;
    // Changing this parameter will cause major behaviour change. Limit value: 127.
    const uint8_t TOP_SPEED = 90; // 7.4 V 80   11.1 V 60
    const uint16_t AHEAD_IN_CROSSING = 210; // 7.4V : 300
    const uint8_t LAST_TRANSISTOR = 7; // mrm-ref-can: 8, mrm-ref-can8: 7
 
    // Actions' declarations
    ActionEvacuationZone* actionEvacuationZone;
    ActionObstacleAvoid* actionObstacleAvoid;
    ActionLineFollow* actionLineFollow;
    ActionRCJLine* actionRCJLine;
    ActionBase* actionWallFollow;
    ActionStop* actionStop;
 
    // Generic actions
    ActionLoop0* actionLoop0;
    ActionLoop1* actionLoop1;
    ActionLoop2* actionLoop2;
    ActionLoop3* actionLoop3;
    ActionLoop4* actionLoop4;
    ActionLoop5* actionLoop5;
    ActionLoop6* actionLoop6;
    ActionLoop7* actionLoop7;
    ActionLoop8* actionLoop8;
    ActionLoopMenu* actionLoopMenu;
 
    uint16_t barrierBrightest = 2000; // Default value, it should be calibrated.
 
    MotorGroupDifferential* motorGroup = NULL; // Class that conveys commands to motors.
 
public:
    RobotLine(char name[] = (char*)"RCJ Line"); // Maximum 15 characters
 
    void armCatch();
 
    void armCatchReady();
 
    void armClose();
 
    void armDrop();
 
    void armUp();
 
    bool barrier();
 
    void bitmapsSet();
 
    uint16_t brightness(uint8_t transistorNumber);
 
    bool button(uint8_t number);
 
    void curve();
 
    bool dark();
 
    void display(ledSign image);
 
    void display(char* text);
 
    void evacuationZone();
 
    uint16_t front();
 
    uint16_t frontLeft();
 
    uint16_t frontRight();
 
    void go(int16_t leftSpeed, int16_t rightSpeed);
 
    uint16_t leftBack();
 
    uint16_t leftFront();
 
    bool lineAny(uint8_t fistTransistor = 0, uint8_t lastTransistor = 0xFF);
 
    bool line(uint8_t transistorNumber);
 
    float lineCenter();
 
    void loop0();
    void loop1();
    void loop2();
    void loop3();
    void loop4();
    void loop5();
    void loop6();
    void loop7();
    void loop8();
 
    void loopMenu();
 
    void goAhead();
 
    float heading();
 
    uint8_t hue(uint8_t deviceNumber);
 
    void illumination(uint8_t current, uint8_t deviceNumber);
 
    void lineFollow();
 
    void loop();
 
    bool markers();
 
    void obstacleAvoid();
 
    void omniWheelsTest();
 
    uint8_t patternColors(uint8_t deviceNumber);
 
    float pitch();
 
    void rcjLine();
 
    uint16_t rightBack();
 
    uint16_t rightFront();
 
    float roll();
 
    uint8_t saturation(uint8_t deviceNumber);
 
    void servo(uint16_t degrees = 90, uint8_t servoNumber = 0);
 
    void sign(uint8_t number);
 
    void stop();
 
    void surfacePrint(bool newLine = false, uint16_t delayMsAfterPrint = 0);
 
    void turn(int16_t byDegreesClockwise);
 
    uint8_t value(uint8_t deviceNumber);
 
    void wallFollow();
 
    bool wallLeft();
 
    bool wallRight();
};
 
class ActionLineFollow : public ActionBase {
    void perform(){ ((RobotLine*)_robot)->lineFollow(); }
public:
    ActionLineFollow(RobotLine* robot) : ActionBase(robot, "lnf", "Line follow", 1) {}
};
 
class ActionObstacleAvoid : public ActionBase {
    void perform() { ((RobotLine*)_robot)->obstacleAvoid(); }
public:
    bool leftOfObstacle; // Obstacle is on the robot's left side
 
    ActionObstacleAvoid(RobotLine* robot) : ActionBase(robot, "obs", "Obstacle avoid", 0) {}
};
 
class ActionEvacuationZone : public ActionBase {
    void perform() { ((RobotLine*)_robot)->evacuationZone(); }
public:
 
    ActionEvacuationZone(RobotLine* robot) : ActionBase(robot, "eva", "Evacuation zone", 1) {}
};
 
class ActionRCJLine : public ActionBase {
    void perform() { ((RobotLine*)_robot)->rcjLine(); }
public:
    ActionRCJLine(Robot* robot) : ActionBase(robot, "lin", "RCJ Line", 1) {}
};
 
class ActionWallFollow : public ActionBase {
    void perform() { ((RobotLine*)_robot)->wallFollow(); }
public:
    ActionWallFollow(RobotLine* robot) : ActionBase(robot, "wal", "Wall follow") {}
};
 
 
// ****************** Generic actions
 
class ActionLoop0 : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loop0(); }
public:
    ActionLoop0(RobotLine* robot) : ActionBase(robot, "lo0", "Loop 0", 8) {}
};
 
class ActionLoop1 : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loop1(); }
public:
    ActionLoop1(RobotLine* robot) : ActionBase(robot, "lo1", "Loop 1", 8) {}
};
 
class ActionLoop2 : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loop2(); }
public:
    ActionLoop2(RobotLine* robot) : ActionBase(robot, "lo2", "Loop 2", 8) {}
};
 
class ActionLoop3 : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loop3(); }
public:
    ActionLoop3(RobotLine* robot) : ActionBase(robot, "lo3", "Loop 3", 8) {}
};
 
class ActionLoop4 : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loop4(); }
public:
    ActionLoop4(RobotLine* robot) : ActionBase(robot, "lo4", "Loop 4", 8) {}
};
 
class ActionLoop5 : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loop5(); }
public:
    ActionLoop5(RobotLine* robot) : ActionBase(robot, "lo5", "Loop 5", 8) {}
};
 
class ActionLoop6 : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loop6(); }
public:
    ActionLoop6(RobotLine* robot) : ActionBase(robot, "lo6", "Loop 6", 8) {}
};
 
class ActionLoop7 : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loop7(); }
public:
    ActionLoop7(RobotLine* robot) : ActionBase(robot, "lo7", "Loop 7", 8) {}
};
 
class ActionLoop8 : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loop8(); }
public:
    ActionLoop8(RobotLine* robot) : ActionBase(robot, "lo8", "Loop 8", 8) {}
};
 
class ActionLoopMenu : public ActionBase {
    void perform() { ((RobotLine*)_robot)->loopMenu(); }
public:
    ActionLoopMenu(Robot* robot) : ActionBase(robot, "lme", "Loop (menu)", 1) {}
};