m3pi.cpp

00001 /* m3pi Library
00002  *
00003  * Copyright (c) 2007-2010 cstyles
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  */
00023 
00024 #include "mbed.h"
00025 #include "m3pi.h"
00026 
00027 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) :  Stream("m3pi"), _nrst(nrst), _ser(tx, rx)  {
00028     _ser.baud(115200);
00029     reset();
00030 }
00031 
00032 m3pi::m3pi() :  Stream("m3pi"), _nrst(p23), _ser(p9, p10)  {
00033     _ser.baud(115200);
00034     reset();
00035 }
00036 
00037 
00038 void m3pi::reset () {
00039     _nrst = 0;
00040     wait (0.01);
00041     _nrst = 1;
00042     wait (0.1);
00043 }
00044 
00045 void m3pi::left_motor (float speed) {
00046     motor(0,speed);
00047 }
00048 
00049 void m3pi::right_motor (float speed) {
00050     motor(1,speed);
00051 }
00052 
00053 void m3pi::forward (float speed) {
00054     motor(0,speed);
00055     motor(1,speed);
00056 }
00057 
00058 void m3pi::backward (float speed) {
00059     motor(0,-1.0*speed);
00060     motor(1,-1.0*speed);
00061 }
00062 
00063 void m3pi::left (float speed) {
00064     motor(0,speed);
00065     motor(1,-1.0*speed);
00066 }
00067 
00068 void m3pi::right (float speed) {
00069     motor(0,-1.0*speed);
00070     motor(1,speed);
00071 }
00072 
00073 void m3pi::stop (void) {
00074     motor(0,0.0);
00075     motor(1,0.0);
00076 }
00077 
00078 void m3pi::left_motor(int speed) {
00079     if (speed > 0) {
00080         _ser.putc(M1_FORWARD);
00081         _ser.putc(speed);
00082     } else {
00083         _ser.putc(M1_BACKWARD);
00084         _ser.putc(-speed);
00085     }
00086 }
00087 
00088 void m3pi::right_motor(int speed) {
00089     if (speed > 0) {
00090         _ser.putc(M2_FORWARD);
00091         _ser.putc(speed);
00092     } else {
00093         _ser.putc(M2_BACKWARD);
00094         _ser.putc(-speed);
00095     }
00096 }
00097 
00098 void m3pi::motor (int motor, float speed) {
00099     char opcode = 0x0;
00100     if (speed > 0.0) {
00101         if (motor==1)
00102             opcode = M1_FORWARD;
00103         else
00104             opcode = M2_FORWARD;
00105     } else {
00106         if (motor==1)
00107             opcode = M1_BACKWARD;
00108         else
00109             opcode = M2_BACKWARD;
00110     }
00111     unsigned char arg = 0x7f * abs(speed);
00112 
00113     _ser.putc(opcode);
00114     _ser.putc(arg);
00115 }
00116 
00117 float m3pi::battery() {
00118     _ser.putc(SEND_BATTERY_MILLIVOLTS);
00119     char lowbyte = _ser.getc();
00120     char hibyte  = _ser.getc();
00121     float v = ((lowbyte + (hibyte << 8))/1000.0);
00122     return(v);
00123 }
00124 
00125 float m3pi::line_position() {
00126     int pos = 0;
00127     _ser.putc(SEND_LINE_POSITION);
00128     pos = _ser.getc();
00129     pos += _ser.getc() << 8;
00130     
00131     float fpos = ((float)pos - 2048.0)/2048.0;
00132     return(fpos);
00133 }
00134 
00135 char m3pi::sensor_auto_calibrate() {
00136     _ser.putc(AUTO_CALIBRATE);
00137     return(_ser.getc());
00138 }
00139 
00140 
00141 void m3pi::calibrate(void) {
00142     _ser.putc(PI_CALIBRATE);
00143 }
00144 
00145 void m3pi::reset_calibration() {
00146     _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
00147 }
00148 
00149 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
00150     _ser.putc(max_speed);
00151     _ser.putc(a);
00152     _ser.putc(b);
00153     _ser.putc(c);
00154     _ser.putc(d);
00155 }
00156 
00157 void m3pi::PID_stop() {
00158     _ser.putc(STOP_PID);
00159 }
00160 
00161 float m3pi::pot_voltage(void) {
00162     int volt = 0;
00163     _ser.putc(SEND_TRIMPOT);
00164     volt = _ser.getc();
00165     volt += _ser.getc() << 8;
00166     return(volt);
00167 }
00168 
00169 
00170 void m3pi::leds(int val) {
00171 
00172     BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
00173     _leds = val;
00174 }
00175 
00176 
00177 void m3pi::locate(int x, int y) {
00178     _ser.putc(DO_LCD_GOTO_XY);
00179     _ser.putc(x);
00180     _ser.putc(y);
00181 }
00182 
00183 void m3pi::cls(void) {
00184     _ser.putc(DO_CLEAR);
00185 }
00186 
00187 int m3pi::print (char* text, int length) {
00188     _ser.putc(DO_PRINT);  
00189     _ser.putc(length);       
00190     for (int i = 0 ; i < length ; i++) {
00191         _ser.putc(text[i]); 
00192     }
00193     return(0);
00194 }
00195 
00196 int m3pi::_putc (int c) {
00197     _ser.putc(DO_PRINT);  
00198     _ser.putc(0x1);       
00199     _ser.putc(c);         
00200     wait (0.001);
00201     return(c);
00202 }
00203 
00204 int m3pi::_getc (void) {
00205     char r = 0;
00206     return(r);
00207 }
00208 
00209 int m3pi::putc (int c) {
00210     return(_ser.putc(c));
00211 }
00212 
00213 int m3pi::getc (void) {
00214     return(_ser.getc());
00215 }
00216 
00217 
00218 
00219 
00220 
00221 #ifdef MBED_RPC
00222 const rpc_method *m3pi::get_rpc_methods() {
00223     static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
00224         { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
00225         { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
00226         { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
00227         { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
00228         { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
00229         { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
00230         { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
00231         { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
00232         { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
00233 
00234 
00235         RPC_METHOD_SUPER(Base)
00236     };
00237     return rpc_methods;
00238 }
00239 #endif