API Documentation

This is the API documentation for the Srobko robot.

• types.h
• motors.h
• radio.h
• button.h
• speaker.h
• tones.h

types.h

struct ArmPosition {
    int armX;
    int armY;
    int armRot;
    int elbow;
    int handRot;
    int handAngle;

    ArmPosition(): armX(0), armY(0), armRot(0), elbow(0), handRot(0), handAngle(0) {}
};

Stores the position of an arm.

• Attributes
  • int armX - holds the horizontal angle of an arm
  • int armY - holds the vertical angle of an arm
  • int armRot - holds the rotation of an arm
  • int elbow - holds the angle of an elbow
  • int handRot - holds the rotation of a hand
  • int handAngle - holds the angle of fingers
    All values are in degrees, range is from 0 to 180.
• Functions
  • ArmPosition(): armX(0), armY(0), armRot(0), elbow(0), handRot(0), handAngle(0)
    Creates a new ArmPosition object

struct HeadPosition {
    int headX;
    int headY;

    HeadPosition(): headX(0), headY(0) {}
};

Stores the position of the robot head.

• Attributes
  • int headX - holds the horizontal angle of a head
  • int headY - holds the vertical angle of a head
    All values are in degrees, range is from 0 to 180.
• Functions
  • HeadPosition(): headX(0), headY(0)
    Creates a new HeadPosition object

struct RobotPosition {
    HeadPosition head;
    ArmPosition leftArm;
    ArmPosition rightArm;

    RobotPosition(): head(HeadPosition()), leftArm(ArmPosition()), rightArm(ArmPosition()) {}

    void parseRawData(uint8_t data[25]);

    void toRawData(char data[25]);
}

Stores the position of the robot.

• Attributes
  • HeadPosition head - holds the position of a head
  • ArmPosition leftArm - holds the position of a left arm
  • ArmPosition rightArm - holds the position of a right arm
• Functions
  • RobotPosition(): head(HeadPosition()), leftArm(ArmPosition()), rightArm(ArmPosition())
    Creates a new RobotPosition object
  • void parseRawData(uint8_t data[25]) Parses raw servo values to RobotPosition object.
    • Parameters
      • uint8_t data[25]
  • void toRawData(char data[25]) Converts RobotPosition object to raw servo data.
    • Parameters
      • uint8_t data[25] - the output data.

motors.h

Motors();

Creates a New motors object. Motor pins are set to default.

• Returns:
  • Motors

Motors(uint8_t motorPins[25]);

Creates a New motors object.

• Parameters:
  • uint8_t motorPins[25]
• Returns:
  • Motors

void move(RobotPosition position);

Moves the robot to a specified position.

• Parameters:
  • RobotPosition position

void moveRightArm(ArmPosition position);

Moves the right arm of robot to a specified position.

• Parameters:
  • ArmPosition position

void moveLeftArm(ArmPosition position);

Moves the left arm of robot to a specified position.

• Parameters:
  • ArmPosition position

void moveHead(HeadPosition position);

Moves the head of robot to a specified position.

• Parameters:
  • HeadPosition position

void writeMotor(int motorIndex, int value);

Sets a motor to a specified value.

• Parameters:
  • int motorIndex (from 0 to 24)
  • int value (in degrees, from 0 to 180)

radio.h

Radio();

Creates a new Radio object. Radio pins are set to default.

• Returns:
  • Radio

Radio(uint8_t cePin, uint8_t csnPin);

Creates a new Radio object.

• Parameters:
  • uint8_t cePin
  • uint8_t csnPin
• Returns:
  • Radio

bool readData(RobotPosition &position);

Reads data from radio.

• Parameters:
  • RobotPosition &position - read data as RobotPosition, pass a reference to get the read value.
• Returns:
  • bool
    • true - new data was read
    • false - no new data arrived

button.h

Button(uint8_t _buttonIndex);

Creates a new Button object.

• Parameters
  • uint8_t _buttonIndex (from 0 to 5)
• Returns
  • Button object

bool isPressed();

Returns the current state of the button.

• Returns
  • bool
    • true - the button is pressed
    • false - the button is not pressed

speaker.h

Speaker();

Creates a new Speaker object.

• Returns
  • Speaker object

void play(int toneFreq, int duration);

Plays a specified tone for a specified amount of time.

• Parameters
  • int toneFreq
  • int duration in milliseconds

tones.h

Contains the definitions of tones frequency.