RobotKit/RKRobotControl.h

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//
//  RKRobotControl.h
//  RobotKit
//
//  Copyright 2010 Orbotix Inc. All rights reserved.
//

#import <Foundation/Foundation.h>
#import <ExternalAccessory/ExternalAccessory.h>
#import <CoreMotion/CoreMotion.h>
#import <RobotKit/RKDeviceConnection.h>
#import <RobotKit/RKRobotControlProtocol.h>

@class RKRobot;
@class RKDeviceConnection;
@class RKDriveAlgorithm;


@interface RKRobotControl : NSObject 
    <RKRobotControlProtocol, EAAccessoryDelegate, NSStreamDelegate>
{    
    @private
    RKDeviceConnection        *deviceConnection;
    RKDriveAlgorithm          *driveAlgorithm;
        
    BOOL            inDeadZone;
        float           deadZoneSize;
    
    BOOL            calibrating;
 
    float           boostTimeScale;
    float           controlledBoostVelocity;
    BOOL            uncontrolledBoost;
    BOOL            controlledBoost;
    
    
}

@property (nonatomic, readonly) RKRobot         *robot;

@property (nonatomic, readonly) RKDeviceConnection *deviceConnection;

@property (nonatomic, retain) RKDriveAlgorithm  *driveAlgorithm;

@property (nonatomic, assign) float             deadZoneSize;

@property (nonatomic, assign)   double          stopOffset;

@property (nonatomic, assign) float boostTimeScale;

@property (nonatomic, assign) float controlledBoostVelocity;


@property (nonatomic, readonly) BOOL calibrating;

- (id)initWithRobot:(RKRobot *)aRobot;

- (void)openConnection;

- (void)closeConnection;

- (void)stopMoving;

- (void)driveWithCoord1:(double)coord1 coord2:(double)coord2 coord3:(double)coord3;

- (void)startCalibration;

- (void)stopCalibrated:(BOOL)calibrate;

- (void)rotateToHeading:(float)angle;

- (void)rollAtHeading:(float)angle velocity:(float)velocity;

- (void)startControlledBoost;

- (void)cancelControlledBoost;

- (void)resetDeadZoneSize;

- (void)jump;

@end