Functions which handle the remote control. More...

Modules
	Advanced informations

Enumerations
enum	eRemoteControlSelectMask
	clusters bit masks for the requests of the remote control More...

enum	eRemoteControlGet
	clusters select values for reading data from the remote control More...

Request Funktions
void	remoteControl_request (eRemoteControlSelectMask bitmask, eRequestType request)
	Requests new data from the remote control. More...

eRemoteControlSelectMask	remoteControl_received (eRemoteControlSelectMask bitmask)
	Indicates if new data for the selected data blocks were received. More...

eRemoteControlSelectMask	remoteControl_changed (eRemoteControlSelectMask bitmask)
	Indicates if new data changed the selected data blocks. More...

Access Funktions
int16_t	remoteControl_get (eRemoteControlGet select)
	Returns the last stored version of the selected value. More...

Detailed Description

Functions which handle the remote control.

For sending and receiving data on the PC, there exists a ROS module. However, a simplified Python counterpart to the TUC-Bot example is given here - it can be used to test the connection to the robot:
remoteControl.py and packedCom.py

example

/*******************************************************************************
* examples/remoteControl.c                                                     *
* ========================                                                     *
*                                                                              *
* Version: 1.0.7                                                               *
* Date   : 14.02.18                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
#include <tucbot_additionals/packedCom.h>
#include <tucbot_additionals/remoteControl.h>
 
//*********************************<Methods>************************************
void testRemoteControl(void);
int main(void);
 
//*********************************[testRemoteControl]**************************
void testRemoteControl(void) {
 
    uint8_t menu_pos = 0;
    uint8_t flag_redraw_menu = 0xFF;
 
    uint8_t value_active = 0xFF;
    uint8_t value_count  = 0;
 
    uint8_t temp;
 
    lcdclr();
    lcdstr_p(PSTR("Remote ctrl  ###"));
 
    packedCom_activate();
    remoteControl_request(kRemoteControlSelectAll, kRequestContinuous);
    mode_set(kModeStudent);
 
    while (1) {
        // redraw menu
        if (flag_redraw_menu) {
            flag_redraw_menu = 0x00;
 
            lcdxy(0,1);
            if (menu_pos == 0) {
                lcdstr_p(PSTR("l=####%, r=####%"));
            } else {
                lcdstr_p(PSTR("a=#####, v=#####"));
            }
            mdelay(400);
        }
 
        // check if buttons were pushed
        if (buttons_get(kButtonMiddle)) {
            // middle button --> toggle menu
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            if (menu_pos == 0) {
                menu_pos = 1;
                motors_set(kMotorSetAll, 0);
                mdelay(100);
                mode_set(kModePupil  );
            } else {
                menu_pos = 0;
                #ifdef TUCBOT_PUPIL
                    drive_stop(kDriveStopNormal);
                #endif // #ifdef TUCBOT_PUPIL
                mdelay(100);
                mode_set(kModeStudent);
            }
            flag_redraw_menu = 0xFF;
        } else if (buttons_get(kButtonRight)) {
            // right button --> toggle packed communication (on/off)
            leds_set(kLedRight , kLedOn );
            mdelay(100);
            leds_set(kLedRight , kLedOff);
 
            lcdxy(11,0);
            if (value_active) {
                lcdout('#');
                value_active = 0x00;
 
                if (menu_pos == 1) {
                    #ifdef TUCBOT_PUPIL
                        drive_stop(kDriveStopNormal);
                    #endif // #ifdef TUCBOT_PUPIL
                }
                motors_set(kMotorSetAll, 0);
            } else {
                lcdout(' ');
                value_active = 0xFF;
            }
        }
 
        // update display (general)
        temp = packedCom_get(kPackedComGetPacketCount);
        if (temp != value_count) {
            value_count = temp;
            lcdxy(13,0); uint16tostr(lcdout,temp,3);
        }
 
        // update display depending on menu position
        if (menu_pos == 0) {
            if (remoteControl_changed(kRemoteControlSelectMotor)) {
                lcdxy( 2,1);
                int16tostr(lcdout,
                  remoteControl_get(kRemoteControlGetMotorLeft ), 4);
                lcdxy(11,1);
                int16tostr(lcdout,
                  remoteControl_get(kRemoteControlGetMotorRight), 4);
 
                if (value_active) {
                    cli();
                    motors_set(kMotorSetLeft ,
                      remoteControl_get(kRemoteControlGetMotorLeft ));
                    motors_set(kMotorSetRight,
                      remoteControl_get(kRemoteControlGetMotorRight));
                    sei();
                }
            }
 
        } else {
            if (remoteControl_changed(kRemoteControlSelectTwist)) {
                lcdxy( 2,1);
                int16tostr(lcdout,
                  remoteControl_get(kRemoteControlGetTwistAngular), 5);
                lcdxy(11,1);
                int16tostr(lcdout,
                  remoteControl_get(kRemoteControlGetTwistLinear ), 5);
 
                if (value_active) {
                    #ifdef TUCBOT_PUPIL
                        drive_adjust(
                          remoteControl_get(kRemoteControlGetTwistLinear ),
                          remoteControl_get(kRemoteControlGetTwistAngular));
                    #endif // #ifdef TUCBOT_PUPIL
                }
            }
        }
 
        mdelay(100);
 
        // signal user if robot is controlled by velocites, but is programmed
        // in student mode
        #ifndef TUCBOT_PUPIL
            if (value_active && menu_pos) {
                leds_set(kLedMiddle, !leds_get(kLedMiddle));
            }
        #endif // #ifdef TUCBOT_PUPIL
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testRemoteControl();
 
    return (0);
}

Enumeration Type Documentation

◆ eRemoteControlGet

enum eRemoteControlGet

clusters select values for reading data from the remote control

See also: remoteControl_get()

Enumerator
kRemoteControlGetMotorLeft	constant (1): left motor power in percent (8-bit)
kRemoteControlGetMotorRight	constant (2): right motor power in percent (8-bit)
kRemoteControlGetTwistLinear	constant (3): linear speed in mm/s (16-bit)
kRemoteControlGetTwistAngular	constant (4): angular speed in degrees/s (16-bit)

◆ eRemoteControlSelectMask

enum eRemoteControlSelectMask

clusters bit masks for the requests of the remote control

See also: remoteControl_request(), remoteControl_received() and remoteControl_changed()

Enumerator
kRemoteControlSelectNone	bit mask (0x00): select no data block
kRemoteControlSelectTwist	bit mask (0x01): select twist message see also sRemoteControlTwist
kRemoteControlSelectMotor	bit mask (0x02): select motor commands see also sRemoteControlMotor
kRemoteControlSelectAll	bit mask (0x03): select all data blocks

Function Documentation

◆ remoteControl_changed()

eRemoteControlSelectMask remoteControl_changed ( eRemoteControlSelectMask bitmask )

Indicates if new data changed the selected data blocks.

Parameters

bitmask bit mask of the selected data blocks - see also eRemoteControlSelectMask
The parameter is used to only return the value of the masked changed-bits. All other values(bits) are set to 0.

Returns: bitfield of the selected data blocks - see also eRemoteControlSelectMask
If a data block is changed its related bit will be 1, otherwise 0.
If only one data block is selected the return value can be interpreted as a boolean expression.

See also: remoteControl_received(), remoteControl_request() and remoteControl_get()

Examples: remoteControl.c.

◆ remoteControl_get()

int16_t remoteControl_get ( eRemoteControlGet select )

Returns the last stored version of the selected value.

This function relies on the internal data blocks sRemoteControlTwist and sRemoteControlMotor - for new data use remoteControl_request().

Parameters

select value of the selected data - see also eRemoteControlGet

Returns

16-bit integer

select	description	result
kRemoteControlGetTwistLinear	linear speed in mm/s	16-bit
kRemoteControlGetTwistAngular	angular speed in degrees/s	16-bit
kRemoteControlGetMotorLeft kRemoteControlGetMotorRight	motor speed in percent	8-bit

See also: remoteControl_request()

Examples: remoteControl.c.

◆ remoteControl_received()

eRemoteControlSelectMask remoteControl_received ( eRemoteControlSelectMask bitmask )

Indicates if new data for the selected data blocks were received.

Parameters

bitmask bit mask of the selected data blocks - see also eRemoteControlSelectMask
The parameter is used to only return the value of the masked received-bits. All other values(bits) are set to 0.

Returns: bitfield of the selected data blocks - see also eRemoteControlSelectMask
If a data block is received its related bit will be 1, otherwise 0.
If only one data block is selected the return value can be interpreted as a boolean expression.