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Sphero.cpp
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Sphero.cpp
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/************************************************
Written by Cruz Monrreal II
Created on 06-26-2012
Updates can be found here:
https:/cmonr/Arduino-Bluetooth-Library
************************************************/
#include <stdint.h>
#include <Arduino.h>
#include <Sphero.h>
Sphero::Sphero(){
Serial1.begin(115200);
streamingParams.numOfPackets = 16;
}
Sphero::~Sphero(){}
//uint8_t Sphero::boost(uint16_t heading, uint8_t duration);
char Sphero::roll(short heading, char speed){
return sendCommand(0x02, 0x30, 0x02, 0x05, speed, heading >> 8 , heading, 0xFF);
}
char Sphero::setHeading(short heading){
return sendCommand(0x02, 0x01, 0x0D, 0x03, heading >> 8, heading);
}
char Sphero::setRGBColor(char red, char green, char blue){
return sendCommand(0x02, 0x20, 0x01, 0x05, red, green, blue, 0xFF);
}
char Sphero::getRGBColor(){
return sendCommand(0x02, 0x22, 0x06, 0x00);
}
char Sphero::setBackLED(char intensity){
return sendCommand(0x02, 0x21, 0x04, 0x02, intensity);
}
//void Sphero::setRotationRate(uint8_t rate);
char Sphero::rotateHeadingBy(short heading){
return sendCommand(0x02, 0x01, 0x03, 0x03, heading >> 8 , heading);
}
//void Sphero::setMotionTimeout();
char Sphero::setMotorPowers(signed short p1, signed short p2){
char dir1 = 0x01,
dir2 = 0x01,
m1 = p1,
m2 = p2;
if (p1 < 0){
m1 = p1 * -1;
dir1 = 0x02;
}
if (p2 < 0){
m2 = p2 * -1;
dir2 = 0x02;
}
return sendCommand(0x02, 0x33, 0x0B, 0x05, dir1, m1, dir2, m2);
}
char Sphero::stop(char coast){
return sendCommand(0x02, 0x33, 0x0C, 0x05, coast ? 0x03 : 0x00, 0x00, coast ? 0x03 : 0x00, 0x00);
}
char Sphero::setStabilization(char enable){
return sendCommand(0x02, 0x33, 0x0A, 0x05, 0x04, 0x00, 0x04, 0x00)<<4 | sendCommand(0x02, 0x02, 0x09, 0x02, enable ? 0x01 : 0x00);
}
char Sphero::setStreamingData(short freq, short frames_per_sample, long int mask){
streamingParams.count = 0;
streamingParams.freq = freq;
streamingParams.frames_per_sample = frames_per_sample;
streamingParams.mask = mask;
return sendCommand(0x02, 0x11, 0x07, 0x0A, (400/freq) >> 8, (400/freq), frames_per_sample >> 8, frames_per_sample, char(mask >> 24), char(mask >> 16), char(mask >> 8), char(mask), streamingParams.numOfPackets);
}
char Sphero::getOptionFlags(){
return sendCommand(0x02, 0x36, 0x08, 0x01);
}
char Sphero::sendCommand(char DID, char CID, char SEQ, char DLEN, ...){
short i=0;
char sum=0, data;
va_list args;
// Flush pipe (just in case)
//Serial1.flush();
// Write data
Serial1.write(char(0xFF));
Serial1.write(char(0xFF));
Serial1.write(char(DID));
Serial1.write(char(CID));
Serial1.write(char(SEQ));
Serial1.write(char(DLEN));
// Calculate checksum
sum += DID + CID + SEQ + DLEN;
va_start(args, DLEN);
for(; i<DLEN-1; i++){
data = va_arg(args, int);
Serial1.write(data);
sum += data;
}
va_end(args);
// Write Checksum
Serial1.write(char(~sum));
delay(50);
// Wait for Simple Response
return readSimplePacket();
}
// Packet attribute functions
char Sphero::getMRSP(){
return mrsp;
}
char Sphero::getSequenceNum(){
return seq;
}
char Sphero::getID(){
return seq;
}
char Sphero::getChecksum(){
return chksum;
}
short Sphero::getDataLength(){
return len-1;
}
unsigned char Sphero::getData(char num){
return data[num];
}
char Sphero::readSimplePacket(){
int i;
// Wait for new data
while(Serial1.available() < 5);
Serial1.read(); // 0xFF
Serial1.read(); // 0xFF
mrsp = Serial1.read(); // MRSP
seq = Serial1.read(); // SEQ
len = Serial1.read(); // DLEN
if (len > 32) // Error
return -1;
for(i=0; i<len-1; i++){
// Wait for new data
while(!Serial1.available())
delay(1);
// Add data to fifo
data[i] = char(Serial1.read());
}
// Wait for new data
while(!Serial1.available());
chksum = Serial1.read(); // CHK
return mrsp;
}
void Sphero::readAsyncPacket(){
int i;
// Wait for new data
while(Serial1.available() < 5);
Serial1.read(); // 0xFF
Serial1.read(); // 0xFE
seq = Serial1.read(); // ID Code
len = Serial1.read() << 8; // DLEN-MSB
len |= Serial1.read(); // DLEN-LSB
if (len > 32) // Error
return;
for(i=0; i<len-1; i++){
// Wait for new data
while(!Serial1.available())
delay(1);
// Add data to fifo
data[i] = char(Serial1.read());
}
// Wait for new data
while(!Serial1.available());
chksum = Serial1.read(); // CHK
// Auto-request more packets
if (streamingParams.count++ == streamingParams.numOfPackets - 1){
streamingParams.count = 0;
// Get more packets
setStreamingData(streamingParams.freq, streamingParams.frames_per_sample, streamingParams.mask);
}
}