RedBot.h

#ifndef RedBot_h
#define RedBot_h

#include <Arduino.h>

#define    L_CTRL_1   2
#define    L_CTRL_2   4
#define    PWM_L      5

#define    R_CTRL_1   7
#define    R_CTRL_2   8
#define    PWM_R      6

class RedBotMotor
{
  public:
    RedBotMotor();

    void drive(int speed);

    void leftDrive(int speed);

    void rightDrive(int speed);

    void pivot(int speed);

    void stop();

    void leftStop();

    void rightStop();

    void brake();

    void leftBrake();

    void rightBrake();

  private:
    void leftFwd(byte speed);
    void leftRev(byte speed);
    void rightFwd(byte speed);
    void rightRev(byte speed);
};

class RedBotSensor
{
  public:
    RedBotSensor(int pin);

    int read();

    boolean check();

    int setBGLevel();

    int setDetectLevel();

  private:
    int _pin;
    int _BGLevel;
    int _BGSD;
    int _detectLevel;
    int _detectSD;
};

#define XL_ADDR     0x1D // I2C address of the MMA8452Q accelerometer
#define I2C_READ    0x01 // I2C read bit set
// Some values we'll load into TWCR a lot
#define START_COND  0xA4 // (1<<TWINT) | (1<<TWSTA) | (1<<TWEN)
#define STOP_COND   0x94 // (1<<TWINT) | (1<<TWSTO) | (1<<TWEN)
#define CLEAR_TWINT 0x84 // (1<<TWINT) | (1<<TWEN)
#define NEXT_BYTE   0xC4 // (1<<TWINT) | (1<<TWEA) | (1<<TWEN)

class RedBotAccel
{
  public:
    RedBotAccel();

    void read();

    void enableBump();

    boolean checkBump();

    void setBumpThresh(int xThresh);

    int x;

    int y;

    int z;

  private:
    void xlWriteBytes(byte addr, byte *buffer, byte len);
    void xlReadBytes(byte addr, byte *buffer, byte len);
};

#endif RedBot_h