LineLeader.h

// LineLeader.h
//
// This is a class for reading from LineLeader Sensor made by Mindsensors.
// See http://www.mindsensors.com/index.php?module=pagemaster&PAGE_user_op=view_page&PAGE_id=111

// Initial version: 2010-06-15 by Andrew Sylvester
// Large parts of the code is ported from the NXC library for the device,
// written by Deepak Patil.

/*
  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/


#ifndef LineLeader_H
#define LineLeader_H

#define LineLeader_Raw_Calibrated    0x49
#define LineLeader_Raw_Uncalibrated    0x74
#define LineLeader_White_Limit      0x51
#define LineLeader_Black_Limit      0x59
#define LineLeader_White_Calibration  0x64
#define LineLeader_Black_Calibration  0x6C


#define LineLeader_Command          0x41
#define LineLeader_Steering        0x42
#define LineLeader_Average          0x43
#define LineLeader_Result        0x44
#define LineLeader_SetPoint          0x45
#define LineLeader_Kp            0x46
#define LineLeader_Ki            0x47
#define LineLeader_Kd            0x48
#define LineLeader_Kp_Factor        0x61
#define LineLeader_Ki_Factor        0x62
#define LineLeader_Kd_Factor        0x63

#include "NXShieldI2C.h"

class LineLeader : public NXShieldI2C
{
public:
  LineLeader(uint8_t i2c_address = 0x02);

  uint8_t issueCommand(char command);
  
  bool             calibrateWhite();
  
  bool             calibrateBlack();
  
  bool             sleep();
  
  bool             wakeUp();
  
  bool             invertLineColorToWhite();
  
  bool             resetColorInversion();
  
  bool             takeSnapshot();
  
  bool             configureUS();
  
  bool             configureEurope();
  
  bool             configureUniversal();
  
  uint8_t          getSetPoint();
  
  bool              setSetPoint(uint8_t spoint);
  
  uint8_t          getKp(uint8_t kp);
  
  bool             setKp(uint8_t kp);
  
  uint8_t          getKi(uint8_t ki);
  
  bool             setKi(uint8_t ki);
  
  uint8_t          getKd(uint8_t kd);
  
  bool             setKd(uint8_t kd);
  
  uint8_t          getKpFactor(uint8_t kpfact);
  
  bool             setKpFactor(uint8_t kpfact);
  
  uint8_t          getKiFactor(uint8_t kifact);
  
  bool             setKiFactor(uint8_t kifact);
  
  uint8_t          getKdFactor(uint8_t kdfact);
  
  bool             setKdFactor(uint8_t kdfact);
  
  int              getSteering();
  
  unsigned char    getAverage();
  
  unsigned char    getResult();
  
  uint8_t*         getRawCalibrated();
  
  uint8_t*         getRawUncalibrated();
  
  uint8_t*         getWhiteLimit();
  
  uint8_t*         getBlackLimit();
  
  uint8_t*         getWhiteCalibration();
  
  uint8_t*         getBlackCalibration();

};

#endif /* LineLeader_H_ */