ROVER - RoverDriving API added

Signed-off-by: Mustafa Ozcelikors <mozcelikors@gmail.com>

rover/include/roverapi/rover_driving.hpp

diff --git a/rover/include/roverapi/rover_driving.hpp b/rover/include/roverapi/rover_driving.hpp
new file mode 100644
index 0000000..4c7a8b7
--- /dev/null
+++ b/rover/include/roverapi/rover_driving.hpp
@@ -0,0 +1,118 @@
+/*
+ * Copyright (c) 2017 FH Dortmund and others
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Description:
+ *    Rover Driving API - Interfaces for Rover driving application development - Header file
+ *
+ * Contributors:
+ *    M.Ozcelikors <mozcelikors@gmail.com>, created API 17.11.2017
+ *
+ */
+
+#ifndef API_ROVER_DRIVING_HPP_
+#define API_ROVER_DRIVING_HPP_
+
+namespace rover
+{
+	/**
+	 * @brief Contains the member functions to drive the rover using its motors.
+	 */
+	class RoverDriving
+	{
+		private:
+			/**
+			 * @brief Speed for the rover movement. 360 -> Lowest speed (RoverDriving::LOWEST_SPEED), 480 -> Highest speed (RoverDriving::HIGHEST_SPEED).
+			 */
+			int SPEED;
+
+		public:
+			/* Rover driving speeds */
+			/**
+			 * @brief Static definition to hold lowest driving speed for rover.
+			 */
+			static const int LOWEST_SPEED = 360;
+
+			/**
+			 * @brief Static definition to hold highest driving speed for rover.
+			 */
+			static const int HIGHEST_SPEED = 480;
+
+			/**
+			 * @brief Static definition to hold stopping speed for rover.
+			 */
+			static const int STOPPING_SPEED = 0;
+
+			/**
+			 * @brief Constructor for RoverDriving class.
+			 */
+			RoverDriving();
+
+			/**
+			 * @brief Initializes wiringPi library and Analog to Digital Converter to start driving the rover.
+			 */
+			void initialize();
+
+			/**
+			 * @brief Commands the rover to stop.
+			 */
+			void stopRover();
+
+			/**
+			 * @brief Sets the speed. 360 -> Lowest speed (RoverDriving::LOWEST_SPEED), 480 -> Highest speed (RoverDriving::HIGHEST_SPEED)
+			 */
+			void setSpeed (int speed_setpoint);
+
+			/**
+			 * @brief Retrieves the current speed setpoint.
+			 */
+			int getSpeed (void);
+
+			/**
+			 * @brief Commands the rover to go forward.
+			 */
+			void goForward ();
+
+			/**
+			 * @brief Commands the rover to go backward.
+			 */
+			void goBackward ();
+
+			/**
+			 * @brief Commands the rover to turn right on its spot.
+			 */
+			void turnRight ();
+
+			/**
+			 * @brief Commands the rover to turn left on its spot.
+			 */
+			void turnLeft ();
+
+			/**
+			 * @brief Commands the rover to turn forward-left using only one motor.
+			 */
+			void turnForwardLeft ();
+
+			/**
+			 * @brief Commands the rover to turn forward-right using only one motor.
+			 */
+			void turnForwardRight ();
+
+			/**
+			 * @brief Commands the rover to turn backward-left using only one motor.
+			 */
+			void turnBackwardLeft ();
+
+			/**
+			 * @brief Commands the rover to turn backward-right using only one motor.
+			 */
+			void turnBackwardRight ();
+
+	};
+}
+
+
+#endif /* API_ROVER_DRIVING_HPP_ */

rover/src/roverapi/rover_driving.cpp

diff --git a/rover/src/roverapi/rover_driving.cpp b/rover/src/roverapi/rover_driving.cpp
new file mode 100644
index 0000000..943ab3a
--- /dev/null
+++ b/rover/src/roverapi/rover_driving.cpp
@@ -0,0 +1,100 @@
+/*
+ * Copyright (c) 2017 FH Dortmund and others
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Description:
+ *    Rover Driving API - Interfaces for Rover driving application development
+ *
+ * Contributors:
+ *    M.Ozcelikors <mozcelikors@gmail.com>, created API 17.11.2017
+ *
+ */
+
+#include <roverapi/rover_driving.hpp>
+#include <roverapi/basic_psys_rover.h>
+
+#include <wiringPi.h>
+#include <softPwm.h>
+#include <wiringPiI2C.h>
+#include <stdio.h>
+#include <unistd.h>
+
+rover::RoverDriving::RoverDriving()
+{
+	this->SPEED = this->HIGHEST_SPEED;
+}
+void rover::RoverDriving::setSpeed (int speed_setpoint)
+{
+	this->SPEED = speed_setpoint;
+}
+
+int rover::RoverDriving::getSpeed (void)
+{
+	return this->SPEED;
+}
+
+void rover::RoverDriving::initialize (void)
+{
+	//wiringPiSetup();
+	/* Initialize RoverDriving once */
+	pinMode (ENABLE_MOTOR_LEFT, OUTPUT) ;
+	digitalWrite (ENABLE_MOTOR_LEFT, HIGH) ;
+	pinMode (ENABLE_MOTOR_RIGHT, OUTPUT) ;
+	digitalWrite (ENABLE_MOTOR_RIGHT, HIGH) ;
+	pinMode (DIRECTION_PIN_LEFT, OUTPUT) ;
+	pinMode (DIRECTION_PIN_RIGHT, OUTPUT) ;
+
+
+	softPwmCreate (SOFT_PWM_ENGINE_LEFT, 0, this->HIGHEST_SPEED) ;
+	softPwmCreate (SOFT_PWM_ENGINE_RIGHT, 0, this->HIGHEST_SPEED) ;
+
+	pinMode (FLASH_LIGHT_LED, OUTPUT) ;
+}
+
+void rover::RoverDriving::turnForwardRight (void)
+{
+	turn(FORWARD, LEFT, this->SPEED);
+}
+
+void rover::RoverDriving::turnForwardLeft (void)
+{
+	turn(FORWARD, RIGHT, this->SPEED);
+}
+
+void rover::RoverDriving::turnBackwardRight (void)
+{
+	turn(BACKWARD, LEFT, this->SPEED);
+}
+
+void rover::RoverDriving::turnBackwardLeft (void)
+{
+	turn(BACKWARD, RIGHT, this->SPEED);
+}
+
+void rover::RoverDriving::turnLeft (void)
+{
+	turnOnSpot(FORWARD, LEFT, this->SPEED);
+}
+
+void rover::RoverDriving::turnRight (void)
+{
+	turnOnSpot(FORWARD, RIGHT, this->SPEED);
+}
+
+void rover::RoverDriving::goForward (void)
+{
+	go(FORWARD, this->SPEED);
+}
+
+void rover::RoverDriving::goBackward (void)
+{
+	go(BACKWARD, this->SPEED);
+}
+
+void rover::RoverDriving::stopRover (void)
+{
+	stop();
+}