Basic Control SDK iOS

This SDK provides access to basic driving controls from a custom iOS application.

1. Copy the DoubleControlSDK.framework into your app's folder
2. Add DoubleControlSDK.framework to your app
3. Add the ExternalAccessory.framework to your app
4. Add an entry in Info.plist for "Supported external accessory protocols" > Item 0 = com.doublerobotics.pancho

5. import <DoubleControlSDK/DoubleControlSDK.h>

6. Add <DRDoubleDelegate>
7. [DRDouble sharedDouble].delegate = self;

DRDouble

@property (nonatomic, assign) id <DRDoubleDelegate> delegate;
@property (nonatomic, readonly) float poleHeightPercent;
@property (nonatomic, readonly) int kickstandState;
@property (nonatomic, readonly) float batteryPercent;
@property (nonatomic, readonly) BOOL batteryIsCharging;
@property (nonatomic, readonly) BOOL batteryIsFullyCharged;
@property (nonatomic, readonly) NSString *firmwareVersion;
@property (nonatomic, readonly) float leftEncoderDeltaInches;
@property (nonatomic, readonly) float rightEncoderDeltaInches;
@property (nonatomic, readonly) NSString *serial;

- (void)drive:(DRDriveDirection)forwardBack turn:(float)leftRight; // leftRight is -1.0 to 1.0
- (void)variableDrive:(float)forwardBack turn:(float)leftRight; // drive is -1.0 to 1.0, leftRight is -1.0 to 1.0 (0.0 is stop on both)
- (void)turnByDegrees:(float)theDegrees;
- (void)poleUp;
- (void)poleDown;
- (void)poleStop;
- (void)deployKickstands;
- (void)retractKickstands;
- (void)startTravelData;
- (void)stopTravelData;
- (void)requestStatusUpdate;
- (void)headPowerOn;
- (void)headPowerOff;

DRDoubleDelegate

- (void)doubleDidConnect:(DRDouble *)theDouble;
- (void)doubleDidDisconnect:(DRDouble *)theDouble;
- (void)doubleStatusDidUpdate:(DRDouble *)theDouble;
- (void)doubleDriveShouldUpdate:(DRDouble *)theDouble;
- (void)doubleTravelDataDidUpdate:(DRDouble *)theDouble;

Kickstand States

typedef NS_ENUM(NSInteger, DRKickstandState) {
    kDRKickstandStateUnknown = 0,
    kDRKickstandStateDeployed = 1,
    kDRKickstandStateRetracted = 2,
    kDRKickstandStateDeployingInProgress = 3,
    kDRKickstandStateRetractingInProgress = 4
};

Example Usage (See DRViewController)

- (void)viewDidLoad {
    [super viewDidLoad];
    [DRDouble sharedDouble].delegate = self;
    NSLog(@"SDK Version: %@", kDoubleBasicSDKVersion);
}

- (BOOL)shouldAutorotateToInterfaceOrientation:(UIInterfaceOrientation)toInterfaceOrientation {
    return UIInterfaceOrientationIsPortrait(toInterfaceOrientation);
}

#pragma mark - Actions

- (IBAction)poleUp:(id)sender {
    [[DRDouble sharedDouble] poleUp];
}

- (IBAction)poleStop:(id)sender {
    [[DRDouble sharedDouble] poleStop];
}

- (IBAction)poleDown:(id)sender {
    [[DRDouble sharedDouble] poleDown];
}

- (IBAction)kickstandsRetract:(id)sender {
    [[DRDouble sharedDouble] retractKickstands];
}

- (IBAction)kickstandsDeploy:(id)sender {
    [[DRDouble sharedDouble] deployKickstands];
}

- (IBAction)startTravelData:(id)sender {
    [[DRDouble sharedDouble] startTravelData];
}

- (IBAction)stopTravelData:(id)sender {
    [[DRDouble sharedDouble] stopTravelData];
}

#pragma mark - DRDoubleDelegate

- (void)doubleDidConnect:(DRDouble *)theDouble {
    statusLabel.text = @"Connected";
}

- (void)doubleDidDisconnect:(DRDouble *)theDouble {
    statusLabel.text = @"Not Connected";
}

- (void)doubleStatusDidUpdate:(DRDouble *)theDouble {
    poleHeightPercentLabel.text = [NSString stringWithFormat:@"%f", [DRDouble sharedDouble].poleHeightPercent];
    kickstandStateLabel.text = [NSString stringWithFormat:@"%d", [DRDouble sharedDouble].kickstandState];
    batteryPercentLabel.text = [NSString stringWithFormat:@"%f", [DRDouble sharedDouble].batteryPercent];
    batteryIsFullyChargedLabel.text = [NSString stringWithFormat:@"%d", [DRDouble sharedDouble].batteryIsFullyCharged];
    firmwareVersionLabel.text = [DRDouble sharedDouble].firmwareVersion;
}

- (void)doubleDriveShouldUpdate:(DRDouble *)theDouble {
    float drive = (driveForwardButton.highlighted) ? kDRDriveDirectionForward : ((driveBackwardButton.highlighted) ? kDRDriveDirectionBackward : kDRDriveDirectionStop);
    float turn = (driveRightButton.highlighted) ? 1.0 : ((driveLeftButton.highlighted) ? -1.0 : 0.0);
    [theDouble drive:drive turn:turn];
}

- (void)doubleTravelDataDidUpdate:(DRDouble *)theDouble {
    leftEncoderLabel.text = [NSString stringWithFormat:@"%.02f", [leftEncoderLabel.text floatValue] + [DRDouble sharedDouble].leftEncoderDeltaInches];
    rightEncoderLabel.text = [NSString stringWithFormat:@"%.02f", [rightEncoderLabel.text floatValue] + [DRDouble sharedDouble].rightEncoderDeltaInches];
    NSLog(@"Left Encoder: %f, Right Encoder: %f", theDouble.leftEncoderDeltaInches, theDouble.rightEncoderDeltaInches);
}

Note

If you have any questions, please contact us: devteam@doublerobotics.com