Fixed robot libraries and examples for unified Arduino core

Author: Xun Yang

ArduinoRobotMotorBoard.cpp

@@ -230,16 +230,20 @@ void RobotMotorBoard::_analogRead(uint8_t codename){
 	messageOut.sendData();
 }
 int RobotMotorBoard::IRread(uint8_t num){
-	IRs.selectPin(num-1); //To make consistant with the pins labeled on the board
+	return _IRread(num-1); //To make consistant with the pins labeled on the board
+}
+
+int RobotMotorBoard::_IRread(uint8_t num){
+	IRs.selectPin(num); 
 	return IRs.getAnalogValue();
 }
 
+
 void RobotMotorBoard::_readIR(){
-	//Serial.println("readIR");
 	int value;
 	messageOut.writeByte(COMMAND_READ_IR_RE);
-	for(int i=1;i<6;i++){
-		value=IRread(i);
+	for(int i=0;i<5;i++){
+		value=_IRread(i);
 		messageOut.writeInt(value);
 	}
 	messageOut.sendData();

ArduinoRobotMotorBoard.h

@@ -105,6 +105,7 @@ class RobotMotorBoard:public LineFollow{
 		void _digitalWrite(uint8_t codename, bool value);
 		void _analogRead(uint8_t codename);
 		void _digitalRead(uint8_t codename);
+		int _IRread(uint8_t num);
 		void _readIR();
 		void _readTrim();
 

LineFollow.h

@@ -19,7 +19,7 @@ class LineFollow{
 		//virtual void motorsWrite(int speedL, int speedR)=0;
 		virtual void motorsWritePct(int speedLpct, int speedRpct)=0;
 		virtual void motorsStop()=0;
-		virtual int IRread(uint8_t num)=0;
+		virtual int _IRread(uint8_t num)=0;
 	protected:
 		virtual	void reportActionDone()=0;
 

examples/Robot_IR_Array_Test/Robot_IR_Array_Test.ino

@@ -19,7 +19,7 @@ void setup(){
 void loop(){
   bar=String(""); // empty the string
   // read the sensors and add them to the string
-  bar=bar+RobotMotor.readIR(0)+' '+RobotMotor.readIR(1)+' '+RobotMotor.readIR(2)+' '+RobotMotor.readIR(3)+' '+RobotMotor.readIR(4);
+  bar=bar+RobotMotor.IRread(1)+' '+RobotMotor.IRread(2)+' '+RobotMotor.IRread(3)+' '+RobotMotor.IRread(4)+' '+RobotMotor.IRread(5);
   // print out the values
   Serial.println(bar);
   delay(100);

lineFollow.cpp

@@ -79,7 +79,7 @@ void LineFollow::calibIRs(){
 void LineFollow::runLineFollow(){
   for(int count=0; count<5; count++)
   {
-    lectura_sensor[count]=map(IRread(count),sensor_negro[count],sensor_blanco[count],0,127);
+    lectura_sensor[count]=map(_IRread(count),sensor_negro[count],sensor_blanco[count],0,127);
     acu+=lectura_sensor[count];
   }
 
@@ -135,7 +135,7 @@ void LineFollow::ajusta_niveles()
 	int lectura=0;
 
 	for(int count=0; count<5; count++){
-		lectura=IRread(count);
+		lectura=_IRread(count);
 
 		if (lectura > sensor_blanco[count])
 			sensor_blanco[count]=lectura;