NesRob.h

Go to the documentation of this file.

#ifndef NES_ROB_H
#define NES_ROB_H
 
#include <stdint.h>
 
namespace nes { namespace rob {
 
class PulseDriver;
class SignalGenerator;
class HardwareAbstractionLayer;
 
}} // namespace nes::rob
 
class NesRob {
  public:
    enum class Command : uint8_t {
        LEFT = 0xBA,        
        RIGHT = 0xEA,       
        DOWN = 0xAE,        
        DOWN_2 = 0xFB,      
        UP = 0xFA,          
        UP_2 = 0xBB,        
        CLOSE = 0xBE,       
        OPEN = 0xEE,        
        LED_DISABLE = 0xAA, 
        LED_ENABLE = 0xEB,  
        RECALIBRATE = 0xAB, 
#if __cplusplus > 201103L
        CALIBRATE_MOTORS [[deprecated("Use RECALIBRATE instead.")]] = 0xAB, 
        ARMS_LEFT [[deprecated("Use LEFT instead.")]] = 0xBA,               
        ARMS_RIGHT [[deprecated("Use RIGHT instead.")]] = 0xEA,             
        ARMS_LOWER [[deprecated("Use DOWN instead.")]] = 0xAE,              
        ARMS_LOWER_2 [[deprecated("Use DOWN_2 instead.")]] = 0xFB,          
        ARMS_RAISE [[deprecated("Use UP instead.")]] = 0xFA,                
        ARMS_RAISE_2 [[deprecated("Use UP_2 instead.")]] = 0xBB,            
        HANDS_CLOSE [[deprecated("Use CLOSE instead.")]] = 0xBE,            
        HANDS_OPEN [[deprecated("Use OPEN instead.")]] = 0xEE,              
        TEST_LED [[deprecated("Use LED_ENABLE instead.")]] = 0xEB,          
#else
        CALIBRATE_MOTORS = 0xAB,    
        ARMS_LEFT = 0xBA,           
        ARMS_RIGHT = 0xEA,          
        ARMS_LOWER = 0xAE,          
        ARMS_LOWER_2 = 0xFB,        
        ARMS_RAISE = 0xFA,          
        ARMS_RAISE_2 = 0xBB,        
        HANDS_CLOSE = 0xBE,         
        HANDS_OPEN = 0xEE,          
        TEST_LED = 0xEB,            
#endif
    };
 
    enum class CommandTarget {
        PHOTOSENSOR,    
        MAIN_CPU,       
    };
 
    enum class ErrorCode : int {
        SUCCESS = 0,    
        E_SIGGEN,       
    };
 
    NesRob (unsigned int pin, CommandTarget target = CommandTarget::PHOTOSENSOR);
 
    ~NesRob (void);
 
#if __cplusplus > 201103L
    [[deprecated("Use sendCommand() instead.")]]
#endif
    void blinkCommand(Command command) const;
 
    int sendCommand(Command command) const;
 
  private:
    nes::rob::HardwareAbstractionLayer * const _hal;
    nes::rob::PulseDriver * const _pulse_driver;
    nes::rob::SignalGenerator * const _signal_generator;
};
 
#endif // NES_ROB_H