From e87596ff17ec41c39269ea6d16aebd4f77172bbf Mon Sep 17 00:00:00 2001
From: Ernesto Corbellini <ecorbe@gmail.com>
Date: Tue, 27 Sep 2016 21:41:40 -0300
Subject: [PATCH] Added a sleep method.|

---
 examples/test_sleep/test_sleep.pde | 18 ++++++++++++++++++
 keywords.txt                       |  4 ++++
 library.properties                 |  2 +-
 src/dreamster.cpp                  | 15 ++++++++++++++-
 src/dreamster.h                    |  3 ++-
 5 files changed, 39 insertions(+), 3 deletions(-)
 create mode 100644 examples/test_sleep/test_sleep.pde

diff --git a/examples/test_sleep/test_sleep.pde b/examples/test_sleep/test_sleep.pde
new file mode 100644
index 0000000..05ca26f
--- /dev/null
+++ b/examples/test_sleep/test_sleep.pde
@@ -0,0 +1,18 @@
+#include <dreamster.h>
+
+// Create our robot object.
+Dreamster robot;
+
+void setup() {
+  // Setup our robot.
+  robot.setup();
+}
+
+void loop() {
+  // Move forward for 3 seconds.
+  robot.move(20, 20);
+  robot.sleep(3000);
+  // Now move backwards for 3 seconds.
+  robot.move(-20, -20);
+  robot.sleep(3000);
+}
diff --git a/keywords.txt b/keywords.txt
index b30d6b7..a4fb661 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -3,3 +3,7 @@ scan KEYWORD2
 read KEYWORD2
 move KEYWORD2
 show KEYWORD2
+update KEYWORD2
+setup KEYWORD2
+sleep KEYWORD2
+
diff --git a/library.properties b/library.properties
index 477ff61..0dea54c 100644
--- a/library.properties
+++ b/library.properties
@@ -4,6 +4,6 @@ author=Lucas Chiesa <lucas.chiesa@gmail.com>
 maintainer=Ernesto Corbellini <ecorbe@gmail.com>
 sentence=A library that makes using your Dreamster a breeze.
 paragraph=This library supports all the basic functions of the Dreamster robot
-category=Robotics
+category=Device Control
 url=http://www.dreamsterbot.org/
 architectures=avr
diff --git a/src/dreamster.cpp b/src/dreamster.cpp
index a29ff97..2d23eb7 100644
--- a/src/dreamster.cpp
+++ b/src/dreamster.cpp
@@ -11,7 +11,7 @@ void Dreamster::scan(int &a, int &b, int &c)
   c = scan_sensor(us_trigger_c_, us_echo_c_);
 }
 
-void Dreamster::read(uint16_t &left, uint16_t &right)
+void Dreamster::read(int &left, int &right)
 {
   left = analogRead(ir_l_);
   right = analogRead(ir_r_);
@@ -85,6 +85,19 @@ void Dreamster::setup()
   Serial.begin(9600);
 }
 
+/**
+ * Sleep for msec milliseconds. The robot keeps updating it's status.
+ * @param msec Time in milliseconds to sleep.
+ */
+void Dreamster::sleep(long msec)
+{
+  unsigned long start = millis();
+  while ((millis() - start) < msec)
+  {
+    update();
+  }
+}
+
 Dreamster::Motor::Motor(int pin, int dir)
 {
   servo.attach(pin);
diff --git a/src/dreamster.h b/src/dreamster.h
index cc07e13..bc3422b 100644
--- a/src/dreamster.h
+++ b/src/dreamster.h
@@ -31,11 +31,12 @@ class Dreamster
 
     Dreamster();
     void scan(int &a, int &b, int &c);
-    void read(uint16_t &left, uint16_t &right);
+    void read(int &left, int &right);
     void move(int left, int right);
     void show(uint8_t red, uint8_t green, uint8_t blue);
     void update();
     void setup();
+    void sleep(long msec);
 
   private: