RobotKit.h

/* @author: Tomas de Camino Beck & Alex Roberto Vargas Benamburg
 * April 2016
 * www.funcostarica.org

Made for teaching poruposes www.funcostarica.org
Released under MIT License
Copyright (c) 2016 Tomas de-Camino-Beck & Alex Roberto Vargas Benamburg
 */

#include "Constants.h"
#include "IRremote.h"
#include "Adafruit_NeoPixel.h"
#include "UltrasonicSensor.h"

//Pointers for some librarys
Adafruit_NeoPixel* neoLed;
IRrecv* irrecv;

uint32_t* remoteUsed = REMOTE_1_KEYS;

typedef uint8_t REMOTE_KEY;
REMOTE_KEY lastKey;

//Run this function on the setup to assign pins
void setMotors() {
  pinMode(LEFTDIR, OUTPUT);
  pinMode(LEFTSPEED, OUTPUT);
  pinMode(RIGHTDIR, OUTPUT);
  pinMode(RIGHTSPEED, OUTPUT);
  digitalWrite(LEFTDIR, LOW);
  digitalWrite(RIGHTDIR, LOW);
}

//*******Movement functions ********/
//two options with or without delay time
void forward(int mSpeed) {
  digitalWrite(LEFTDIR, LOW);
  digitalWrite(RIGHTDIR, LOW);
  analogWrite(LEFTSPEED, mSpeed);
  analogWrite(RIGHTSPEED, mSpeed);

}

void forward(int mSpeed, int t) {
  digitalWrite(LEFTDIR, LOW);
  digitalWrite(RIGHTDIR, LOW);
  analogWrite(LEFTSPEED, mSpeed);
  analogWrite(RIGHTSPEED, mSpeed);
  delay(t);
}

void forward(int lSpeed, int rSpeed, int t) {
  digitalWrite(LEFTDIR, LOW);
  digitalWrite(RIGHTDIR, LOW);
  analogWrite(LEFTSPEED, lSpeed);
  analogWrite(RIGHTSPEED, rSpeed);
  delay(t);
}

void backward(int mSpeed) {
  digitalWrite(LEFTDIR, HIGH);
  digitalWrite(RIGHTDIR, HIGH);
  analogWrite(LEFTSPEED, mSpeed);
  analogWrite(RIGHTSPEED, mSpeed);

}

void backward(int mSpeed, int t) {
  digitalWrite(LEFTDIR, HIGH);
  digitalWrite(RIGHTDIR, HIGH);
  analogWrite(LEFTSPEED, mSpeed);
  analogWrite(RIGHTSPEED, mSpeed);
  delay(t);
}

void backward(int lSpeed, int rSpeed, int t) {
  digitalWrite(LEFTDIR, HIGH);
  digitalWrite(RIGHTDIR, HIGH);
  analogWrite(LEFTSPEED, lSpeed);
  analogWrite(RIGHTSPEED, rSpeed);
  delay(t);
}

void pivotLeft(int mSpeed) {
  digitalWrite(LEFTDIR, HIGH);
  digitalWrite(RIGHTDIR, LOW);
  analogWrite(LEFTSPEED, mSpeed);
  analogWrite(RIGHTSPEED, mSpeed);
}

void pivotLeft(int mSpeed, int t) {
  digitalWrite(LEFTDIR, HIGH);
  digitalWrite(RIGHTDIR, LOW);
  analogWrite(LEFTSPEED, mSpeed);
  analogWrite(RIGHTSPEED, mSpeed);
  delay(t);
}

void pivotRight(int mSpeed) {
  digitalWrite(LEFTDIR, LOW);
  digitalWrite(RIGHTDIR, HIGH);
  analogWrite(LEFTSPEED, mSpeed);
  analogWrite(RIGHTSPEED, mSpeed);
}

void pivotRight(int mSpeed, int t) {
  digitalWrite(LEFTDIR, LOW);
  digitalWrite(RIGHTDIR, HIGH);
  analogWrite(LEFTSPEED, mSpeed);
  analogWrite(RIGHTSPEED, mSpeed);
  delay(t);
}

void stopMotors() {
  digitalWrite(LEFTDIR, LOW);
  digitalWrite(RIGHTDIR, LOW);
  analogWrite(LEFTSPEED, 0);
  analogWrite(RIGHTSPEED, 0);
}

//moves randomly forward
void randomForward(int t){
  int l = random(0,100);
  int r = random(0,100);
  forward(l,r,t);
}

//pivot randomly left or right
void randomPivot(int p, int t){
  int r = random(50);
  int rT= random(0,t);
  (r>25)?pivotLeft(p):pivotRight(p);
  delay(rT);
}

//***** sensor functions ********

void setSensor(int sensorPin){
 pinMode(sensorPin,INPUT_PULLUP);
}

//for analog pins
int readSensor(int sensorPin){
  return analogRead(sensorPin);
}

//a simple algorithm so the robot turns to the highest light source
void pointLight(int sensorPin){
  pivotLeft(100,100);
  int left = analogRead(sensorPin);
  pivotRight(100,200);
  int right = analogRead(sensorPin);
  if(right>left) pivotLeft(100,100);
}

//functions for NeoPixel
void startLED(uint8_t pin){
   neoLed = new Adafruit_NeoPixel(1, pin, NEO_GRBW + NEO_KHZ800);
   neoLed->begin();
   neoLed->show();
}
//set color and brightness
void setLED(uint8_t red, uint8_t green, uint8_t blue, uint8_t brightness){
  neoLed->setPixelColor(0,neoLed->Color(red, green, blue,brightness));
  neoLed->show();
}
//set color at max brightness
void setLED(uint8_t red, uint8_t green, uint8_t blue){
  setLED(red, green, blue,255);
}

//functions for IR Remote
void startRemote(uint8_t pin){
  //irrecv.changePin(0);
  irrecv = new IRrecv(pin);
  irrecv->enableIRIn();
}

void startRemote(uint8_t pin, uint32_t* remote){
  remoteUsed = remote;
  startRemote(pin);
}

REMOTE_KEY getRemote(){
  uint32_t resp = 0;
  decode_results results;
  if (irrecv->decode(&results)) {
    resp = results.value;
    irrecv->resume();
  }
  REMOTE_KEY i = REMOTE_NO_KEY;
  if(resp){
    for(i=REMOTE_1;remoteUsed[i]!=resp && i<REMOTE_MAX;++i){}
    if(i==REMOTE_HOLD){
      i = lastKey;
    }else{
      lastKey = i;
    }
  }
  return i;
}

float getDistance(){
  updateUtrasonic();
  return getUltrasonic();
}