Integrate and compress libraries

Ardunio_2Wheel_Robot_Boilerplate/myAIDriver/AIDriver.cpp

@@ -10,10 +10,38 @@ AIDriver::AIDriver(){
   static unsigned int rightBreak = 9;  //0 = Go, 1 = Break for right wheel default 9
   static unsigned int leftDirection = 13;  //0 = Forward, 1 = Backward for left wheel default 13
   static unsigned int leftBreak = 8;  //0 = Go, 1 = Break for right wheel default 8
+  // Digital Pins for the Ultrasonic Sensor
+  static uint8_t trigPin = 6;
+  static uint8_t echoPin = 7;
 
   // L298N Motor controller
   motorRight = new L298N(rightSpeedIn,rightDirection,rightBreak);
   motorLeft = new L298N(leftSpeedIn,leftDirection,leftBreak);
+  pinMode(trigPin, OUTPUT);
+  pinMode(echoPin, INPUT);
+
+  //Configure and debug the serial monitor
+  Serial.begin(9600);
+  Serial.println("Debug Serial Monitor");
+}
+
+unsigned int AIDriver::read() {
+  return timing() / 2.8 / 2;  //distance by divisor
+}
+
+unsigned int AIDriver::timing() {
+  static uint8_t trig = 6;
+  static uint8_t echo = 7;
+  digitalWrite(trig, LOW);
+  delayMicroseconds(2);
+  digitalWrite(trig, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(trig, LOW);
+  previousMicros = micros();
+  while(!digitalRead(echo) && (micros() - previousMicros) <= 20000); // wait for the echo pin HIGH or timeout
+  previousMicros = micros();
+  while(digitalRead(echo)  && (micros() - previousMicros) <= 20000); // wait for the echo pin LOW or timeout
+  return micros() - previousMicros; // duration
 }
 
 void AIDriver::brake(){

Ardunio_2Wheel_Robot_Boilerplate/myAIDriver/AIDriver.h

@@ -4,25 +4,20 @@
 
 class AIDriver{
   public:
-    const int MAX_SPEED = 255; 
-    const int THREE_QUARTER_SPEED = 138; 
-    const int HALF_SPEED = 92; 
-    const int QUARTER_SPEED = 46;  
-    const int MIN_SPEED = 15; 
-    int rightSignal, rightIn1, rightIn2; 
-    int leftSignal, leftIn1, leftIn2;
-
     AIDriver();
-
+    
     void driveForward(unsigned short rightWheel, unsigned short leftWheel);
     void driveBackward(unsigned short rightWheel, unsigned short leftWheel);
     void rotateRight(unsigned short turnSpeed);
     void rotateLeft(unsigned short turnSpeed);
     void brake();
+    unsigned int read();
 
   private:
     L298N *motorRight;
     L298N *motorLeft;
+    unsigned long previousMicros;
+    unsigned int timing();
 };
 
 #endif 

Ardunio_2Wheel_Robot_Boilerplate/myAIDriver/L298N.cpp

@@ -1,15 +1,12 @@
 #include "L298N.h"
 
-typedef void (*CallBackFunction)();
-
 L298N::L298N(uint8_t pinEnable, uint8_t pinIN1, uint8_t pinIN2) {
   _pinEnable = pinEnable;
   _pinIN1 = pinIN1;
   _pinIN2 = pinIN2;
   _pwmVal = 255;
   _isMoving = false;
   _canMove = true;
-  _lastMs = 0;
   _direction = STOP;
 
   pinMode(_pinEnable, OUTPUT);
@@ -45,71 +42,6 @@ void L298N::backward() {
   _isMoving = true;
 }
 
-void L298N::run(L298N::Direction direction) {
-  switch (direction) {
-    case BACKWARD:
-      this->backward();
-      break;
-    case FORWARD:
-      this->forward();
-      break;
-    case STOP:
-      this->stop();
-      break;
-  }
-}
-
-// Timing and callback
-
-void L298N::runFor(unsigned long delay,
-                   L298N::Direction direction,
-                   CallBackFunction callback) {
-  if ((_lastMs == 0) && _canMove) {
-    _lastMs = millis();
-
-    switch (direction) {
-      case FORWARD:
-        this->forward();
-        break;
-      case BACKWARD:
-        this->backward();
-        break;
-      case STOP:
-      default:
-        this->stop();
-        break;
-    }
-  }
-
-  if (((millis() - _lastMs) > delay) && _canMove) {
-    this->stop();
-    _lastMs = 0;
-    _canMove = false;
-
-    callback();
-  }
-}
-
-void L298N::runFor(unsigned long delay, L298N::Direction direction) {
-  this->runFor(delay, direction, fakeCallback);
-}
-
-void L298N::forwardFor(unsigned long delay, CallBackFunction callback) {
-  this->runFor(delay, FORWARD, callback);
-}
-
-void L298N::forwardFor(unsigned long delay) {
-  this->runFor(delay, FORWARD);
-}
-
-void L298N::backwardFor(unsigned long delay, CallBackFunction callback) {
-  this->runFor(delay, BACKWARD, callback);
-}
-
-void L298N::backwardFor(unsigned long delay) {
-  this->runFor(delay, BACKWARD);
-}
-
 void L298N::stop() {
   digitalWrite(_pinIN1, LOW);
   digitalWrite(_pinIN2, HIGH);
@@ -130,6 +62,4 @@ boolean L298N::isMoving() {
 
 L298N::Direction L298N::getDirection() {
   return _direction;
-}
-
-void L298N::fakeCallback() {}
+}

Ardunio_2Wheel_Robot_Boilerplate/myAIDriver/L298N.h

@@ -3,46 +3,33 @@
 
 #include "Arduino.h"
 
-typedef void (*CallBackFunction)();
+class L298N {
+  public:
+    typedef enum
+    {
+        FORWARD = 0,
+        BACKWARD = 1,
+        STOP = -1
+    } Direction;
 
-class L298N
-{
-public:
-   typedef enum
-   {
-      FORWARD = 0,
-      BACKWARD = 1,
-      STOP = -1
-   } Direction;
+    L298N(uint8_t pinEnable, uint8_t pinIN1, uint8_t pinIN2);
+    void setSpeed(unsigned short pwmVal);
+    unsigned short getSpeed();
+    void forward();
+    void backward();
+    void stop();
+    void reset();
+    boolean isMoving();
+    Direction getDirection();
 
-   L298N(uint8_t pinEnable, uint8_t pinIN1, uint8_t pinIN2);
-   L298N(uint8_t pinIN1, uint8_t pinIN2);
-   void setSpeed(unsigned short pwmVal);
-   unsigned short getSpeed();
-   void forward();
-   void forwardFor(unsigned long delay, CallBackFunction callback);
-   void forwardFor(unsigned long delay);
-   void backward();
-   void backwardFor(unsigned long delay, CallBackFunction callback);
-   void backwardFor(unsigned long delay);
-   void run(L298N::Direction direction);
-   void runFor(unsigned long delay, L298N::Direction direction);
-   void runFor(unsigned long delay, L298N::Direction direction, CallBackFunction callback);
-   void stop();
-   void reset();
-   boolean isMoving();
-   Direction getDirection();
-
-private:
-   byte _pinEnable;
-   byte _pinIN1;
-   byte _pinIN2;
-   byte _pwmVal;
-   unsigned long _lastMs;
-   boolean _canMove;
-   boolean _isMoving;
-   L298N::Direction _direction;
-   static void fakeCallback();
+  private:
+    byte _pinEnable;
+    byte _pinIN1;
+    byte _pinIN2;
+    byte _pwmVal;
+    boolean _canMove;
+    boolean _isMoving;
+    L298N::Direction _direction;
 };
 
 #endif

Ardunio_2Wheel_Robot_Boilerplate/myAIDriver/myAIDriver.ino

@@ -1,34 +1,26 @@
 #include "AIDriver.h"
-#include "Ultrasonic.h"
 
-//Instantiate a Ultrasonic Sensor called 'distanceRanger'
-	Ultrasonic distanceRanger(6, 7);
-
-// Declare a pointer to a AIDriver object
+  // Declare a pointer to a AIDriver object
   AIDriver *mrJonesDriving;
 
 	void setup(){   // sets up once as the program starts
-    //Configure and debug the serial monitor
-    Serial.begin(9600);
-    Serial.println("Debug Serial Monitor");
-
-    //Instantiate a two wheeled to the pointer 'mrJonesDriving'
+    // Instantiate a two wheeled to the pointer 'mrJonesDriving'
     mrJonesDriving = new AIDriver();
 	}
 
 	void loop(){ // loops continuously 50 times a second
       // Read the distanceRanger ulstrasonic sensor and return the object distance in mm
-      Serial.println(distanceRanger.read());
+      Serial.println(mrJonesDriving->read());
 
-      //obj->doSomething(); in this case make the object mrJonesDriving rotate to the right at a speed of 200
+      // obj->doSomething(); in this case make the object mrJonesDriving rotate to the right at a speed of 200
       mrJonesDriving->rotateRight(125); // speed can be between 0-255
 			// wait 2000 milliseconds or 2 seconds
       delay(2000);
       mrJonesDriving->rotateLeft(125);
 			delay(2000);
-      //Make mrJonesDriving drive forward left wheel speed 200 and right wheel speeed 200
+      // Make mrJonesDriving drive forward left wheel speed 200 and right wheel speeed 200
       mrJonesDriving->driveForward(125,125);
       delay(2000);
       mrJonesDriving->driveBackward(125,125);
       delay(2000);
-	}
+	}