ACC_COSC_2425 / Mbed 2 deprecated GroupProject

For educational purposes

Dependencies:   mbed

m3pi.h@0:7116cced0ada, 2014-03-26 (annotated)

Committer:
chrisell512
Date:
Wed Mar 26 01:16:35 2014 +0000
Revision:
0:7116cced0ada
COSC 2425 Group Project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrisell512 0:7116cced0ada 1 /* mbed m3pi Library
chrisell512 0:7116cced0ada 2 * Copyright (c) 2007-2010 cstyles
chrisell512 0:7116cced0ada 3 *
chrisell512 0:7116cced0ada 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
chrisell512 0:7116cced0ada 5 * of this software and associated documentation files (the "Software"), to deal
chrisell512 0:7116cced0ada 6 * in the Software without restriction, including without limitation the rights
chrisell512 0:7116cced0ada 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chrisell512 0:7116cced0ada 8 * copies of the Software, and to permit persons to whom the Software is
chrisell512 0:7116cced0ada 9 * furnished to do so, subject to the following conditions:
chrisell512 0:7116cced0ada 10 *
chrisell512 0:7116cced0ada 11 * The above copyright notice and this permission notice shall be included in
chrisell512 0:7116cced0ada 12 * all copies or substantial portions of the Software.
chrisell512 0:7116cced0ada 13 *
chrisell512 0:7116cced0ada 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chrisell512 0:7116cced0ada 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chrisell512 0:7116cced0ada 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chrisell512 0:7116cced0ada 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chrisell512 0:7116cced0ada 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chrisell512 0:7116cced0ada 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chrisell512 0:7116cced0ada 20 * THE SOFTWARE.
chrisell512 0:7116cced0ada 21 */
chrisell512 0:7116cced0ada 22
chrisell512 0:7116cced0ada 23 #ifndef M3PI_H
chrisell512 0:7116cced0ada 24 #define M3PI_H
chrisell512 0:7116cced0ada 25
chrisell512 0:7116cced0ada 26 #include "mbed.h"
chrisell512 0:7116cced0ada 27 #include "platform.h"
chrisell512 0:7116cced0ada 28
chrisell512 0:7116cced0ada 29 #ifdef MBED_RPC
chrisell512 0:7116cced0ada 30 #include "rpc.h"
chrisell512 0:7116cced0ada 31 #endif
chrisell512 0:7116cced0ada 32
chrisell512 0:7116cced0ada 33 #define SEND_SIGNATURE 0x81
chrisell512 0:7116cced0ada 34 #define SEND_RAW_SENSOR_VALUES 0x86
chrisell512 0:7116cced0ada 35 #define SEND_TRIMPOT 0xB0
chrisell512 0:7116cced0ada 36 #define SEND_BATTERY_MILLIVOLTS 0xB1
chrisell512 0:7116cced0ada 37 #define DO_PLAY 0xB3
chrisell512 0:7116cced0ada 38 #define PI_CALIBRATE 0xB4
chrisell512 0:7116cced0ada 39 #define DO_CLEAR 0xB7
chrisell512 0:7116cced0ada 40 #define DO_PRINT 0xB8
chrisell512 0:7116cced0ada 41 #define DO_LCD_GOTO_XY 0xB9
chrisell512 0:7116cced0ada 42 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
chrisell512 0:7116cced0ada 43 #define SEND_LINE_POSITION 0xB6
chrisell512 0:7116cced0ada 44 #define AUTO_CALIBRATE 0xBA
chrisell512 0:7116cced0ada 45 #define SET_PID 0xBB
chrisell512 0:7116cced0ada 46 #define STOP_PID 0xBC
chrisell512 0:7116cced0ada 47 #define M1_FORWARD 0xC1
chrisell512 0:7116cced0ada 48 #define M1_BACKWARD 0xC2
chrisell512 0:7116cced0ada 49 #define M2_FORWARD 0xC5
chrisell512 0:7116cced0ada 50 #define M2_BACKWARD 0xC6
chrisell512 0:7116cced0ada 51
chrisell512 0:7116cced0ada 52
chrisell512 0:7116cced0ada 53
chrisell512 0:7116cced0ada 54 /** m3pi control class
chrisell512 0:7116cced0ada 55 *
chrisell512 0:7116cced0ada 56 * Example:
chrisell512 0:7116cced0ada 57 * @code
chrisell512 0:7116cced0ada 58 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
chrisell512 0:7116cced0ada 59
chrisell512 0:7116cced0ada 60 #include "mbed.h"
chrisell512 0:7116cced0ada 61 #include "m3pi.h"
chrisell512 0:7116cced0ada 62
chrisell512 0:7116cced0ada 63 m3pi pi;
chrisell512 0:7116cced0ada 64
chrisell512 0:7116cced0ada 65 int main() {
chrisell512 0:7116cced0ada 66
chrisell512 0:7116cced0ada 67 wait(0.5);
chrisell512 0:7116cced0ada 68
chrisell512 0:7116cced0ada 69 pi.forward(0.5);
chrisell512 0:7116cced0ada 70 wait (0.5);
chrisell512 0:7116cced0ada 71 pi.left(0.5);
chrisell512 0:7116cced0ada 72 wait (0.5);
chrisell512 0:7116cced0ada 73 pi.backward(0.5);
chrisell512 0:7116cced0ada 74 wait (0.5);
chrisell512 0:7116cced0ada 75 pi.right(0.5);
chrisell512 0:7116cced0ada 76 wait (0.5);
chrisell512 0:7116cced0ada 77
chrisell512 0:7116cced0ada 78 pi.stop();
chrisell512 0:7116cced0ada 79
chrisell512 0:7116cced0ada 80 }
chrisell512 0:7116cced0ada 81 * @endcode
chrisell512 0:7116cced0ada 82 */
chrisell512 0:7116cced0ada 83 class m3pi : public Stream {
chrisell512 0:7116cced0ada 84
chrisell512 0:7116cced0ada 85 // Public functions
chrisell512 0:7116cced0ada 86 public:
chrisell512 0:7116cced0ada 87
chrisell512 0:7116cced0ada 88 /** Create the m3pi object connected to the default pins
chrisell512 0:7116cced0ada 89 *
chrisell512 0:7116cced0ada 90 * @param nrst GPIO pin used for reset. Default is p23
chrisell512 0:7116cced0ada 91 * @param tx Serial transmit pin. Default is p9
chrisell512 0:7116cced0ada 92 * @param rx Serial receive pin. Default is p10
chrisell512 0:7116cced0ada 93 */
chrisell512 0:7116cced0ada 94 m3pi();
chrisell512 0:7116cced0ada 95
chrisell512 0:7116cced0ada 96
chrisell512 0:7116cced0ada 97 /** Create the m3pi object connected to specific pins
chrisell512 0:7116cced0ada 98 *
chrisell512 0:7116cced0ada 99 */
chrisell512 0:7116cced0ada 100 m3pi(PinName nrst, PinName tx, PinName rx);
chrisell512 0:7116cced0ada 101
chrisell512 0:7116cced0ada 102
chrisell512 0:7116cced0ada 103
chrisell512 0:7116cced0ada 104 /** Force a hardware reset of the 3pi
chrisell512 0:7116cced0ada 105 */
chrisell512 0:7116cced0ada 106 void reset (void);
chrisell512 0:7116cced0ada 107
chrisell512 0:7116cced0ada 108 /** Directly control the speed and direction of the left motor
chrisell512 0:7116cced0ada 109 *
chrisell512 0:7116cced0ada 110 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chrisell512 0:7116cced0ada 111 */
chrisell512 0:7116cced0ada 112 void left_motor (float speed);
chrisell512 0:7116cced0ada 113
chrisell512 0:7116cced0ada 114 /** Directly control the speed and direction of the right motor
chrisell512 0:7116cced0ada 115 *
chrisell512 0:7116cced0ada 116 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chrisell512 0:7116cced0ada 117 */
chrisell512 0:7116cced0ada 118 void right_motor (float speed);
chrisell512 0:7116cced0ada 119
chrisell512 0:7116cced0ada 120 /** Drive both motors forward as the same speed
chrisell512 0:7116cced0ada 121 *
chrisell512 0:7116cced0ada 122 * @param speed A normalised number 0 - 1.0 represents the full range.
chrisell512 0:7116cced0ada 123 */
chrisell512 0:7116cced0ada 124 void forward (float speed);
chrisell512 0:7116cced0ada 125
chrisell512 0:7116cced0ada 126 /** Drive both motors backward as the same speed
chrisell512 0:7116cced0ada 127 *
chrisell512 0:7116cced0ada 128 * @param speed A normalised number 0 - 1.0 represents the full range.
chrisell512 0:7116cced0ada 129 */
chrisell512 0:7116cced0ada 130 void backward (float speed);
chrisell512 0:7116cced0ada 131
chrisell512 0:7116cced0ada 132 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
chrisell512 0:7116cced0ada 133 *
chrisell512 0:7116cced0ada 134 * @param speed A normalised number 0 - 1.0 represents the full range.
chrisell512 0:7116cced0ada 135 */
chrisell512 0:7116cced0ada 136 void left (float speed);
chrisell512 0:7116cced0ada 137
chrisell512 0:7116cced0ada 138 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
chrisell512 0:7116cced0ada 139 * @param speed A normalised number 0 - 1.0 represents the full range.
chrisell512 0:7116cced0ada 140 */
chrisell512 0:7116cced0ada 141 void right (float speed);
chrisell512 0:7116cced0ada 142
chrisell512 0:7116cced0ada 143 /** Stop both motors
chrisell512 0:7116cced0ada 144 *
chrisell512 0:7116cced0ada 145 */
chrisell512 0:7116cced0ada 146 void stop (void);
chrisell512 0:7116cced0ada 147
chrisell512 0:7116cced0ada 148 /** Read the voltage of the potentiometer on the 3pi
chrisell512 0:7116cced0ada 149 * @returns voltage as a float
chrisell512 0:7116cced0ada 150 *
chrisell512 0:7116cced0ada 151 */
chrisell512 0:7116cced0ada 152 float pot_voltage(void);
chrisell512 0:7116cced0ada 153
chrisell512 0:7116cced0ada 154 /** Read the battery voltage on the 3pi
chrisell512 0:7116cced0ada 155 * @returns battery voltage as a float
chrisell512 0:7116cced0ada 156 */
chrisell512 0:7116cced0ada 157 float battery(void);
chrisell512 0:7116cced0ada 158
chrisell512 0:7116cced0ada 159 /** Read the position of the detected line
chrisell512 0:7116cced0ada 160 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
chrisell512 0:7116cced0ada 161 * -1.0 means line is on the left, or the line has been lost
chrisell512 0:7116cced0ada 162 * 0.0 means the line is in the middle
chrisell512 0:7116cced0ada 163 * 1.0 means the line is on the right
chrisell512 0:7116cced0ada 164 */
chrisell512 0:7116cced0ada 165 float line_position (void);
chrisell512 0:7116cced0ada 166
chrisell512 0:7116cced0ada 167
chrisell512 0:7116cced0ada 168 /** Calibrate the sensors. This turns the robot left then right, looking for a line
chrisell512 0:7116cced0ada 169 *
chrisell512 0:7116cced0ada 170 */
chrisell512 0:7116cced0ada 171 char sensor_auto_calibrate (void);
chrisell512 0:7116cced0ada 172
chrisell512 0:7116cced0ada 173 /** Set calibration manually to the current settings.
chrisell512 0:7116cced0ada 174 *
chrisell512 0:7116cced0ada 175 */
chrisell512 0:7116cced0ada 176 void calibrate(void);
chrisell512 0:7116cced0ada 177
chrisell512 0:7116cced0ada 178 /** Clear the current calibration settings
chrisell512 0:7116cced0ada 179 *
chrisell512 0:7116cced0ada 180 */
chrisell512 0:7116cced0ada 181 void reset_calibration (void);
chrisell512 0:7116cced0ada 182
chrisell512 0:7116cced0ada 183 void PID_start(int max_speed, int a, int b, int c, int d);
chrisell512 0:7116cced0ada 184
chrisell512 0:7116cced0ada 185 void PID_stop();
chrisell512 0:7116cced0ada 186
chrisell512 0:7116cced0ada 187 /** Write to the 8 LEDs
chrisell512 0:7116cced0ada 188 *
chrisell512 0:7116cced0ada 189 * @param leds An 8 bit value to put on the LEDs
chrisell512 0:7116cced0ada 190 */
chrisell512 0:7116cced0ada 191 void leds(int val);
chrisell512 0:7116cced0ada 192
chrisell512 0:7116cced0ada 193 /** Locate the cursor on the 8x2 LCD
chrisell512 0:7116cced0ada 194 *
chrisell512 0:7116cced0ada 195 * @param x The horizontal position, from 0 to 7
chrisell512 0:7116cced0ada 196 * @param y The vertical position, from 0 to 1
chrisell512 0:7116cced0ada 197 */
chrisell512 0:7116cced0ada 198 void locate(int x, int y);
chrisell512 0:7116cced0ada 199
chrisell512 0:7116cced0ada 200 /** Clear the LCD
chrisell512 0:7116cced0ada 201 *
chrisell512 0:7116cced0ada 202 */
chrisell512 0:7116cced0ada 203 void cls(void);
chrisell512 0:7116cced0ada 204
chrisell512 0:7116cced0ada 205 /** Send a character directly to the 3pi serial interface
chrisell512 0:7116cced0ada 206 * @param c The character to send to the 3pi
chrisell512 0:7116cced0ada 207 */
chrisell512 0:7116cced0ada 208 int putc(int c);
chrisell512 0:7116cced0ada 209
chrisell512 0:7116cced0ada 210 /** Receive a character directly to the 3pi serial interface
chrisell512 0:7116cced0ada 211 * @returns c The character received from the 3pi
chrisell512 0:7116cced0ada 212 */
chrisell512 0:7116cced0ada 213 int getc();
chrisell512 0:7116cced0ada 214
chrisell512 0:7116cced0ada 215 /** Send a string buffer to the 3pi serial interface
chrisell512 0:7116cced0ada 216 * @param text A pointer to a char array
chrisell512 0:7116cced0ada 217 * @param int The character to send to the 3pi
chrisell512 0:7116cced0ada 218 */
chrisell512 0:7116cced0ada 219 int print(char* text, int length);
chrisell512 0:7116cced0ada 220
chrisell512 0:7116cced0ada 221 #ifdef MBED_RPC
chrisell512 0:7116cced0ada 222 virtual const struct rpc_method *get_rpc_methods();
chrisell512 0:7116cced0ada 223 #endif
chrisell512 0:7116cced0ada 224
chrisell512 0:7116cced0ada 225 private :
chrisell512 0:7116cced0ada 226
chrisell512 0:7116cced0ada 227 DigitalOut _nrst;
chrisell512 0:7116cced0ada 228 Serial _ser;
chrisell512 0:7116cced0ada 229
chrisell512 0:7116cced0ada 230 void motor (int motor, float speed);
chrisell512 0:7116cced0ada 231 virtual int _putc(int c);
chrisell512 0:7116cced0ada 232 virtual int _getc();
chrisell512 0:7116cced0ada 233
chrisell512 0:7116cced0ada 234 };
chrisell512 0:7116cced0ada 235
chrisell512 0:7116cced0ada 236 #endif