RobotikaBrno - RBControl

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platformio.ini
[code]
upload_speed = 921600
monitor_speed = 115200
# upload_port = /dev/ttyUSB0
# upload_port = COM7

lib_deps =  https://github.com/RoboticsBrno/RB3201-RBControl-library.git
            https://github.com/adafruit/Adafruit_TCS34725.git

build_unflags = -std=gnu++11
build_flags =
    -std=c++14
    -fmax-errors=5
[/code]

[code]
#include <Arduino.h>
#include "RBControl_manager.hpp"

rb::Manager& rbc() 
{
    static rb::Manager m(false);  // ve výchozím stavu se motory po puštění tlačítka vypínají, false zařídí, že pojedou, dokud nedostanou další pokyn 
    return m;
}

void setup() {
    Serial.begin(115200);
}

#define LEFT_MOTOR  rb::MotorId::M1
#define RIGHT_MOTOR  rb::MotorId::M2

void loop() {
    if(Serial.available()) {
        char c = Serial.read();
        switch(c) {
            case 'w':
                man->setMotors().power(LEFT_MOTOR, 32)
                                .power(RIGHT_MOTOR, 32)
                                .set();
                break;
            case 's':
                man->setMotors().power(LEFT_MOTOR, -32)
                                .power(RIGHT_MOTOR, -32)
                                .set();
                break;
            case 'a':
                man->setMotors().power(LEFT_MOTOR, -32)
                                .power(RIGHT_MOTOR, 32)
                                .set();
                break;
            case 'd':
                man->setMotors().power(LEFT_MOTOR, 32)
                                .power(RIGHT_MOTOR, -32)
                                .set();
                break;
            case ' ':
                man->setMotors().power(LEFT_MOTOR, 0)
                                .power(RIGHT_MOTOR, 0)
                                .set();
                break;
            default:
                Serial.write(c);
                break;
        }
    }
}

[/code]

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