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cleanup
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‎src/Arduino_AlvikCarrier.h

Lines changed: 75 additions & 72 deletions
Original file line numberDiff line numberDiff line change
@@ -91,108 +91,111 @@ class Arduino_AlvikCarrier{
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Arduino_AlvikCarrier();
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94-
int begin();
94+
int begin(); // initialize the robot
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97-
void getVersion(uint8_t &high_byte, uint8_t &mid_byte, uint8_t &low_byte);
97+
void getVersion(uint8_t &high_byte, uint8_t &mid_byte, uint8_t &low_byte); // get firmware version
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// Color sensor, APDS9960
101-
int beginAPDS(); // initialize all components required by color detection
102-
void updateAPDS(); // refresh data
103-
void setIlluminator(uint8_t value); // set white leds
104-
void enableIlluminator(); // white leds on
105-
void disableIlluminator(); // white leds off
106-
int getRed(); // red value 0-4095
107-
int getGreen(); // green value 0-4095
108-
int getBlue(); // blue value 0-4095
109-
int getProximity(); // proximity value 0-127
101+
int beginAPDS(); // initialize all components required by color detection
102+
void updateAPDS(); // refresh data
103+
void setIlluminator(uint8_t value); // set white leds
104+
void enableIlluminator(); // white leds on
105+
void disableIlluminator(); // white leds off
106+
int getRed(); // red value 0-4095
107+
int getGreen(); // green value 0-4095
108+
int getBlue(); // blue value 0-4095
109+
int getProximity(); // proximity value 0-127
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// Servo
113-
int beginServo(); // initialize Servo interfaces
114-
void setServoA(int position); // 0°-180° servo position
115-
void setServoB(int position); // 0°-180° servo position
113+
int beginServo(); // initialize Servo interfaces
114+
void setServoA(int position); // 0°-180° servo position
115+
void setServoB(int position); // 0°-180° servo position
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// I2C select
119-
int beginI2Cselect(); // initialize I2C bus selector
120-
void setExternalI2C(uint8_t state); // set A4,A5 connection on I2C bus 2
121-
void connectExternalI2C(); // allow A4,A5 on nano connector to be attached to I2C bus 2
122-
void disconnectExternalI2C(); // disable the connection on A4,A5
119+
int beginI2Cselect(); // initialize I2C bus selector
120+
void setExternalI2C(uint8_t state); // set A4,A5 connection on I2C bus 2
121+
void connectExternalI2C(); // allow A4,A5 on nano connector to be attached to I2C bus 2
122+
void disconnectExternalI2C(); // disable the connection on A4,A5
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// BMS, MAX17332
126-
int beginBMS();
127-
void updateBMS();
128-
float getBatteryVoltage();
129-
float getBatteryChargePercentage();
126+
int beginBMS(); // initialize BMS
127+
void updateBMS(); // update the BMS
128+
float getBatteryVoltage(); // get Voltage
129+
float getBatteryChargePercentage(); // get battery percentage
130+
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// Motors
133-
int beginMotors();
134-
void updateMotors();
135-
bool setRpmLeft(const float rpm);
136-
float getRpmLeft();
137-
bool setRpmRight(const float rpm);
138-
float getRpmRight();
139-
bool setRpm(const float left, const float right); // sets RPMs on left and right wheels
140-
void getRpm(float & left, float & right); // get RPMs on left and right wheels
141-
void setKPidRight(const float kp, const float ki, const float kd); // set PID parameters for right wheel
142-
void setKPidLeft(const float kp, const float ki, const float kd); // set PID parameters for left wheel
134+
int beginMotors(); // initialize motor controls
135+
void updateMotors(); // update motor control
136+
bool setRpmLeft(const float rpm); // set RPM of left motor
137+
float getRpmLeft(); // get RPM of left motor
138+
bool setRpmRight(const float rpm); // set RPM of right motor
139+
float getRpmRight(); // get RPM of right motor
140+
bool setRpm(const float left, const float right); // sets RPMs on left and right wheels
141+
void getRpm(float & left, float & right); // get RPMs on left and right wheels
142+
void setKPidRight(const float kp, const float ki, const float kd); // set PID parameters for right wheel
143+
void setKPidLeft(const float kp, const float ki, const float kd); // set PID parameters for left wheel
144+
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// Touch
146-
int beginTouch(); // initialize touch
147-
void updateTouch(); // update touch status
148-
bool getAnyTouchPressed(); // get any touch pressed
149-
bool getTouchKey(const uint8_t key); // return true if key touch is pressed
150-
uint8_t getTouchKeys(); // return touched pads as byte
151-
bool getTouchUp(); // get nav pad up
152-
bool getTouchRight(); // get nav pad right
153-
bool getTouchDown(); // get nav pad down
154-
bool getTouchLeft(); // get nav pad left
155-
bool getTouchCenter(); // get nav pad enter (center circle)
156-
bool getTouchOk(); // get nav pad ok (right check)
157-
bool getTouchDelete(); // get nav pad delete (right x)
148+
int beginTouch(); // initialize touch
149+
void updateTouch(); // update touch status
150+
bool getAnyTouchPressed(); // get any touch pressed
151+
bool getTouchKey(const uint8_t key); // return true if key touch is pressed
152+
uint8_t getTouchKeys(); // return touched pads as byte
153+
bool getTouchUp(); // get nav pad up
154+
bool getTouchRight(); // get nav pad right
155+
bool getTouchDown(); // get nav pad down
156+
bool getTouchLeft(); // get nav pad left
157+
bool getTouchCenter(); // get nav pad enter (center circle)
158+
bool getTouchOk(); // get nav pad ok (right check)
159+
bool getTouchDelete(); // get nav pad delete (right x)
160+
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// Leds
161-
int beginLeds();
162-
void setLedBuiltin(const uint8_t value);
163-
void setLedLeft(const uint32_t color);
164-
void setLedLeft(const uint32_t red, const uint32_t green, const uint32_t blue);
165-
void setLedLeftRed(const uint32_t red);
166-
void setLedLeftGreen(const uint32_t green);
167-
void setLedLeftBlue(const uint32_t blue);
168-
void setLedRight(const uint32_t color);
169-
void setLedRight(const uint32_t red, const uint32_t green, const uint32_t blue);
170-
void setLedRightRed(const uint32_t red);
171-
void setLedRightGreen(const uint32_t green);
172-
void setLedRightBlue(const uint32_t blue);
173-
void setLeds(const uint32_t color);
174-
void setLeds(const uint32_t red, const uint32_t green, const uint32_t blue);
175-
void setAllLeds(const uint8_t value);
164+
int beginLeds(); // initialize leds
165+
void setLedBuiltin(const uint8_t value); // set built-in led
166+
void setLedLeft(const uint32_t color); // set left led by color
167+
void setLedLeft(const uint32_t red, const uint32_t green, const uint32_t blue); // set left led by RGB (only boolean values)
168+
void setLedLeftRed(const uint32_t red); // set red left led
169+
void setLedLeftGreen(const uint32_t green); // set green left led
170+
void setLedLeftBlue(const uint32_t blue); // set blue left led
171+
void setLedRight(const uint32_t color); // set right led by color
172+
void setLedRight(const uint32_t red, const uint32_t green, const uint32_t blue);// set right led by RGB (only boolean values)
173+
void setLedRightRed(const uint32_t red); // set red right led
174+
void setLedRightGreen(const uint32_t green); // set green right led
175+
void setLedRightBlue(const uint32_t blue); // set blue right led
176+
void setLeds(const uint32_t color); // set both leds by color
177+
void setLeds(const uint32_t red, const uint32_t green, const uint32_t blue); // set both leds by RGB (only boolean values)
178+
void setAllLeds(const uint8_t value); // set all leds by a byte
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178181
// Imu
179-
int beginImu(); // initialize LSD6DSOX-
180-
void updateImu(); // update accelerometer and gyroscope data. Update sensor fusion
181-
float getAccelerationX(); // get acceleration on x axis
182-
float getAccelerationY(); // get acceleration on y axis
183-
float getAccelerationZ(); // get acceleration on z axis
184-
float getAngularVelocityX(); // get angular velocity on x axis
185-
float getAngularVelocityY(); // get angular velocity on y axis
186-
float getAngularVelocityZ(); // get angular velocity on z axis
187-
float getRoll(); // get robot roll
188-
float getPitch(); // get robot pitch
189-
float getYaw(); // get robot yaw
182+
int beginImu(); // initialize LSD6DSOX-
183+
void updateImu(); // update accelerometer and gyroscope data. Update sensor fusion
184+
float getAccelerationX(); // get acceleration on x axis
185+
float getAccelerationY(); // get acceleration on y axis
186+
float getAccelerationZ(); // get acceleration on z axis
187+
float getAngularVelocityX(); // get angular velocity on x axis
188+
float getAngularVelocityY(); // get angular velocity on y axis
189+
float getAngularVelocityZ(); // get angular velocity on z axis
190+
float getRoll(); // get robot roll
191+
float getPitch(); // get robot pitch
192+
float getYaw(); // get robot yaw
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191-
void errorLed(const int error_code); // error routine, locks on code blinking led
194+
void errorLed(const int error_code); // error routine, locks on code blinking led
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// Kinematics
195-
void drive(const float linear, const float angular);
198+
void drive(const float linear, const float angular); // set mm/s and deg/s of the robot
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197200
void rotate(const float angle);
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