This adds to the existing m3pi mbed library to add driving commands with speeds as integers ranging from -255 for 255, as does the serial slave program for the m3pi. Library for the m3pi robot. This works with a Pololu 3pi robot with the Serial Slave firmware, and exposes an API.
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m3pi.h
00001 /* mbed m3pi Library 00002 * Copyright (c) 2007-2010 cstyles 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy 00005 * of this software and associated documentation files (the "Software"), to deal 00006 * in the Software without restriction, including without limitation the rights 00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 * copies of the Software, and to permit persons to whom the Software is 00009 * furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included in 00012 * all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 * THE SOFTWARE. 00021 */ 00022 00023 #ifndef M3PI_H 00024 #define M3PI_H 00025 00026 #include "mbed.h" 00027 #include "platform.h" 00028 00029 #ifdef MBED_RPC 00030 #include "rpc.h" 00031 #endif 00032 00033 #define SEND_SIGNATURE 0x81 00034 #define SEND_RAW_SENSOR_VALUES 0x86 00035 #define SEND_TRIMPOT 0xB0 00036 #define SEND_BATTERY_MILLIVOLTS 0xB1 00037 #define DO_PLAY 0xB3 00038 #define PI_CALIBRATE 0xB4 00039 #define DO_CLEAR 0xB7 00040 #define DO_PRINT 0xB8 00041 #define DO_LCD_GOTO_XY 0xB9 00042 #define LINE_SENSORS_RESET_CALIBRATION 0xB5 00043 #define SEND_LINE_POSITION 0xB6 00044 #define AUTO_CALIBRATE 0xBA 00045 #define SET_PID 0xBB 00046 #define STOP_PID 0xBC 00047 #define M1_FORWARD 0xC1 00048 #define M1_BACKWARD 0xC2 00049 #define M2_FORWARD 0xC5 00050 #define M2_BACKWARD 0xC6 00051 00052 00053 00054 /** m3pi control class 00055 * 00056 * Example: 00057 * @code 00058 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second 00059 00060 #include "mbed.h" 00061 #include "m3pi.h" 00062 00063 m3pi pi; 00064 00065 int main() { 00066 00067 wait(0.5); 00068 00069 pi.forward(0.5); 00070 wait (0.5); 00071 pi.left(0.5); 00072 wait (0.5); 00073 pi.backward(0.5); 00074 wait (0.5); 00075 pi.right(0.5); 00076 wait (0.5); 00077 00078 pi.stop(); 00079 00080 } 00081 * @endcode 00082 */ 00083 class m3pi : public Stream { 00084 00085 // Public functions 00086 public: 00087 00088 /** Create the m3pi object connected to the default pins 00089 * 00090 * @param nrst GPIO pin used for reset. Default is p23 00091 * @param tx Serial transmit pin. Default is p9 00092 * @param rx Serial receive pin. Default is p10 00093 */ 00094 m3pi(); 00095 00096 00097 /** Create the m3pi object connected to specific pins 00098 * 00099 */ 00100 m3pi(PinName nrst, PinName tx, PinName rx); 00101 00102 00103 00104 /** Force a hardware reset of the 3pi 00105 */ 00106 void reset (void); 00107 00108 /* Accept speeds in -255 to 255 range, as does the m3pi, 00109 ** for easier serial passthrough of byte commands. 00110 */ 00111 void left_motor (int speed); 00112 void right_motor (int speed); 00113 00114 /** Directly control the speed and direction of the left motor 00115 * 00116 * @param speed A normalised number -1.0 - 1.0 represents the full range. 00117 */ 00118 void left_motor (float speed); 00119 00120 /** Directly control the speed and direction of the right motor 00121 * 00122 * @param speed A normalised number -1.0 - 1.0 represents the full range. 00123 */ 00124 void right_motor (float speed); 00125 00126 /** Drive both motors forward as the same speed 00127 * 00128 * @param speed A normalised number 0 - 1.0 represents the full range. 00129 */ 00130 void forward (float speed); 00131 00132 /** Drive both motors backward as the same speed 00133 * 00134 * @param speed A normalised number 0 - 1.0 represents the full range. 00135 */ 00136 void backward (float speed); 00137 00138 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot 00139 * 00140 * @param speed A normalised number 0 - 1.0 represents the full range. 00141 */ 00142 void left (float speed); 00143 00144 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot 00145 * @param speed A normalised number 0 - 1.0 represents the full range. 00146 */ 00147 void right (float speed); 00148 00149 /** Stop both motors 00150 * 00151 */ 00152 void stop (void); 00153 00154 /** Read the voltage of the potentiometer on the 3pi 00155 * @returns voltage as a float 00156 * 00157 */ 00158 float pot_voltage(void); 00159 00160 /** Read the battery voltage on the 3pi 00161 * @returns battery voltage as a float 00162 */ 00163 float battery(void); 00164 00165 /** Read the position of the detected line 00166 * @returns position as A normalised number -1.0 - 1.0 represents the full range. 00167 * -1.0 means line is on the left, or the line has been lost 00168 * 0.0 means the line is in the middle 00169 * 1.0 means the line is on the right 00170 */ 00171 float line_position (void); 00172 00173 00174 /** Calibrate the sensors. This turns the robot left then right, looking for a line 00175 * 00176 */ 00177 char sensor_auto_calibrate (void); 00178 00179 /** Set calibration manually to the current settings. 00180 * 00181 */ 00182 void calibrate(void); 00183 00184 /** Clear the current calibration settings 00185 * 00186 */ 00187 void reset_calibration (void); 00188 00189 void PID_start(int max_speed, int a, int b, int c, int d); 00190 00191 void PID_stop(); 00192 00193 /** Write to the 8 LEDs 00194 * 00195 * @param leds An 8 bit value to put on the LEDs 00196 */ 00197 void leds(int val); 00198 00199 /** Locate the cursor on the 8x2 LCD 00200 * 00201 * @param x The horizontal position, from 0 to 7 00202 * @param y The vertical position, from 0 to 1 00203 */ 00204 void locate(int x, int y); 00205 00206 /** Clear the LCD 00207 * 00208 */ 00209 void cls(void); 00210 00211 /** Send a character directly to the 3pi serial interface 00212 * @param c The character to send to the 3pi 00213 */ 00214 int putc(int c); 00215 00216 /** Receive a character directly to the 3pi serial interface 00217 * @returns c The character received from the 3pi 00218 */ 00219 int getc(); 00220 00221 /** Send a string buffer to the 3pi serial interface 00222 * @param text A pointer to a char array 00223 * @param int The character to send to the 3pi 00224 */ 00225 int print(char* text, int length); 00226 00227 #ifdef MBED_RPC 00228 virtual const struct rpc_method *get_rpc_methods(); 00229 #endif 00230 00231 private : 00232 00233 DigitalOut _nrst; 00234 Serial _ser; 00235 00236 void motor (int motor, float speed); 00237 virtual int _putc(int c); 00238 virtual int _getc(); 00239 00240 }; 00241 00242 #endif
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