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Sphero.h
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Sphero.h
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/************************************************
Written by Cruz Monrreal II
Created on 06-26-2012
Updates can be found here:
https://github.com/cmonr/Arduino-Bluetooth-Library
************************************************/
#ifndef Sphero_h
#define Sphero_h
#include <stdint.h>
#include <Arduino.h>
#include <Serial.h>
#define SPHERO_IMU_YAW 0x00010000
#define SPHERO_IMU_ROLL 0x00020000
#define SPHERO_IMU_PITCH 0x00040000
class Sphero{
public:
// public methods
Sphero();
~Sphero();
// Set
//void boost(uint16_t heading, uint8_t duration);
char roll( short heading, char speed );
//void stop();
char setHeading( short heading );
char setRGBColor( char red, char green, char blue );
char getRGBColor( void );
char setBackLED( char intensity );
//void setRotationRate(uint8_t rate);
char rotateHeadingBy( short heading );
char getOptionFlags( void );
//void setMotionTimeout();
// setRawMotorValues
// *** Disables Stabilization
// *** Will need to be reenabled
char setMotorPowers( signed short m1, signed short m2 );
char stop( char coast );
// Get
char setStreamingData( short sample_freq_divisor, short frames_per_packet, long int mask );
char setStabilization( char enable );
// Packet attributes
char getMRSP( void );
char getSequenceNum( void );
char getID( void );
char getChecksum( void );
short getDataLength( void );
unsigned char getData( char num );
void readAsyncPacket( void );
private:
char sendCommand( char DID, char CID, char SEQ, char DLEN, ... );
char readSimplePacket( void );
char mrsp;
char seq;
short len;
unsigned char data[32];
char chksum;
typedef struct {
char count;
char numOfPackets;
short freq;
short frames_per_sample;
long mask;
} StreamingParams;
StreamingParams streamingParams;
};
#endif