roboruka.h

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#ifndef _LIBRB_H
#define _LIBRB_H
 
#include <memory>
 
#include <fmt/core.h>
#include <fmt/printf.h>
 
#include <Arduino.h>
 
#include "gridui.h"
#include "rbprotocol.h"
 
using namespace gridui;
 
struct rkPinsConfig {
    rkPinsConfig()
        : arm_servos(32)
        , line_cs(4)
        , line_mosi(14)
        , line_miso(27)
        , line_sck(26) {
    }
 
    uint8_t arm_servos; 
 
    uint8_t line_cs;
    uint8_t line_mosi;
    uint8_t line_miso;
    uint8_t line_sck;
};
 
#define RK_DEFAULT_WIFI_AP_PASSWORD "flusflus" 
 
struct rkConfig {
    rkConfig()
        : rbcontroller_app_enable(false)
        , owner("")
        , name("")
        , battery_coefficient(1.0)
        , wifi_name("")
        , wifi_password("")
        , wifi_default_ap(false)
        , wifi_ap_password(RK_DEFAULT_WIFI_AP_PASSWORD)
        , wifi_ap_channel(1)
        , motor_id_left(2)
        , motor_id_right(1)
        , motor_max_power_pct(60)
        , motor_polarity_switch_left(false)
        , motor_polarity_switch_right(false)
        , motor_enable_failsafe(false)
        , arm_bone_trims { 0, 0, 0 } {
    }
 
    bool rbcontroller_app_enable; 
 
    const char* owner; 
    const char* name; 
 
    float battery_coefficient; 
 
    const char* wifi_name; 
    const char* wifi_password; 
 
    bool wifi_default_ap; 
    const char* wifi_ap_password; 
    uint8_t wifi_ap_channel; 
 
    uint8_t motor_id_left; 
    uint8_t motor_id_right; 
    uint8_t motor_max_power_pct; 
    bool motor_polarity_switch_left; 
    bool motor_polarity_switch_right; 
    bool motor_enable_failsafe; 
 
    float arm_bone_trims[3]; 
 
    rkPinsConfig pins; 
};
 
void rkSetup(const rkConfig& cfg = rkConfig());
 
void rkMotorsSetPower(int8_t left, int8_t right);
 
void rkMotorsSetPowerLeft(int8_t power);
 
void rkMotorsSetPowerRight(int8_t power);
 
void rkMotorsSetPowerById(int id, int8_t power);
 
void rkMotorsJoystick(int32_t x, int32_t y);
 
bool rkArmMoveTo(double x, double y);
 
bool rkArmPosition(double& outX, double& outY);
 
bool rkArmIsGrabbing();
 
void rkArmSetGrabbing(bool grab);
 
void rkArmSetServo(uint8_t id, float degrees);
 
float rkArmGetServo(uint8_t id);
 
std::unique_ptr<rbjson::Object> rkArmGetInfo();
 
uint32_t rkBatteryPercent();
 
uint32_t rkBatteryVoltageMv();
 
uint32_t rkBatteryRaw();
float rkBatteryCoef();
 
void rkControllerSendLog(const char* format, ...);
void rkControllerSendLog(const std::string& text);
 
void rkControllerSend(const char* cmd, rbjson::Object* data = nullptr);
void rkControllerSendMustArrive(const char* cmd, rbjson::Object* data = nullptr);
 
void rkLedRed(bool on = true);
void rkLedYellow(bool on = true);
void rkLedGreen(bool on = true);
void rkLedBlue(bool on = true);
 
void rkLedAll(bool on = true);
 
void rkLedById(uint8_t id, bool on = true);
 
bool rkButtonIsPressed(uint8_t id, bool waitForRelease = false);
 
void rkButtonWaitForRelease(uint8_t id);
 
void rkLineCalibrate(float motor_time_coef = 1.0);
 
void rkLineClearCalibration();
 
uint16_t rkLineGetSensor(uint8_t sensorId);
 
float rkLineGetPosition(bool white_line = false, uint8_t line_threshold_pct = 25);
 
#endif // LIBRB_H