Polybot / Mbed 2 deprecated Polulu_TP_II_ET5

tp1

Dependencies:   mbed

m3pi.cpp@0:727643d2c6ef, 2020-10-09 (annotated)

Committer:
Maximousse
Date:
Fri Oct 09 10:25:39 2020 +0000
Revision:
0:727643d2c6ef
tp1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Maximousse 0:727643d2c6ef 1 /* m3pi Library
Maximousse 0:727643d2c6ef 2 *
Maximousse 0:727643d2c6ef 3 * Copyright (c) 2007-2010 cstyles
Maximousse 0:727643d2c6ef 4 *
Maximousse 0:727643d2c6ef 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
Maximousse 0:727643d2c6ef 6 * of this software and associated documentation files (the "Software"), to deal
Maximousse 0:727643d2c6ef 7 * in the Software without restriction, including without limitation the rights
Maximousse 0:727643d2c6ef 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Maximousse 0:727643d2c6ef 9 * copies of the Software, and to permit persons to whom the Software is
Maximousse 0:727643d2c6ef 10 * furnished to do so, subject to the following conditions:
Maximousse 0:727643d2c6ef 11 *
Maximousse 0:727643d2c6ef 12 * The above copyright notice and this permission notice shall be included in
Maximousse 0:727643d2c6ef 13 * all copies or substantial portions of the Software.
Maximousse 0:727643d2c6ef 14 *
Maximousse 0:727643d2c6ef 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Maximousse 0:727643d2c6ef 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Maximousse 0:727643d2c6ef 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Maximousse 0:727643d2c6ef 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Maximousse 0:727643d2c6ef 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Maximousse 0:727643d2c6ef 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Maximousse 0:727643d2c6ef 21 * THE SOFTWARE.
Maximousse 0:727643d2c6ef 22 */
Maximousse 0:727643d2c6ef 23
Maximousse 0:727643d2c6ef 24 #include "mbed.h"
Maximousse 0:727643d2c6ef 25 #include "m3pi.h"
Maximousse 0:727643d2c6ef 26
Maximousse 0:727643d2c6ef 27 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) {
Maximousse 0:727643d2c6ef 28 _ser.baud(115200);
Maximousse 0:727643d2c6ef 29 reset();
Maximousse 0:727643d2c6ef 30 }
Maximousse 0:727643d2c6ef 31
Maximousse 0:727643d2c6ef 32 m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) {
Maximousse 0:727643d2c6ef 33 _ser.baud(115200);
Maximousse 0:727643d2c6ef 34 reset();
Maximousse 0:727643d2c6ef 35 }
Maximousse 0:727643d2c6ef 36
Maximousse 0:727643d2c6ef 37
Maximousse 0:727643d2c6ef 38 void m3pi::reset () {
Maximousse 0:727643d2c6ef 39 _nrst = 0;
Maximousse 0:727643d2c6ef 40 wait (0.01);
Maximousse 0:727643d2c6ef 41 _nrst = 1;
Maximousse 0:727643d2c6ef 42 wait (0.1);
Maximousse 0:727643d2c6ef 43 }
Maximousse 0:727643d2c6ef 44
Maximousse 0:727643d2c6ef 45 void m3pi::left_motor (float speed) {
Maximousse 0:727643d2c6ef 46 motor(1,speed);
Maximousse 0:727643d2c6ef 47 }
Maximousse 0:727643d2c6ef 48
Maximousse 0:727643d2c6ef 49 void m3pi::right_motor (float speed) {
Maximousse 0:727643d2c6ef 50 motor(0,speed);
Maximousse 0:727643d2c6ef 51 }
Maximousse 0:727643d2c6ef 52
Maximousse 0:727643d2c6ef 53 void m3pi::forward (float speed) {
Maximousse 0:727643d2c6ef 54 motor(0,speed);
Maximousse 0:727643d2c6ef 55 motor(1,speed);
Maximousse 0:727643d2c6ef 56 }
Maximousse 0:727643d2c6ef 57
Maximousse 0:727643d2c6ef 58 void m3pi::backward (float speed) {
Maximousse 0:727643d2c6ef 59 motor(0,-1.0*speed);
Maximousse 0:727643d2c6ef 60 motor(1,-1.0*speed);
Maximousse 0:727643d2c6ef 61 }
Maximousse 0:727643d2c6ef 62
Maximousse 0:727643d2c6ef 63 void m3pi::left (float speed) {
Maximousse 0:727643d2c6ef 64 motor(0,speed);
Maximousse 0:727643d2c6ef 65 motor(1,-1.0*speed);
Maximousse 0:727643d2c6ef 66 }
Maximousse 0:727643d2c6ef 67
Maximousse 0:727643d2c6ef 68 void m3pi::right (float speed) {
Maximousse 0:727643d2c6ef 69 motor(0,-1.0*speed);
Maximousse 0:727643d2c6ef 70 motor(1,speed);
Maximousse 0:727643d2c6ef 71 }
Maximousse 0:727643d2c6ef 72
Maximousse 0:727643d2c6ef 73 void m3pi::stop (void) {
Maximousse 0:727643d2c6ef 74 motor(0,0.0);
Maximousse 0:727643d2c6ef 75 motor(1,0.0);
Maximousse 0:727643d2c6ef 76 }
Maximousse 0:727643d2c6ef 77
Maximousse 0:727643d2c6ef 78 void m3pi::motor (int motor, float speed) {
Maximousse 0:727643d2c6ef 79 char opcode = 0x0;
Maximousse 0:727643d2c6ef 80 if (speed > 0.0) {
Maximousse 0:727643d2c6ef 81 if (motor==1)
Maximousse 0:727643d2c6ef 82 opcode = M1_FORWARD;
Maximousse 0:727643d2c6ef 83 else
Maximousse 0:727643d2c6ef 84 opcode = M2_FORWARD;
Maximousse 0:727643d2c6ef 85 } else {
Maximousse 0:727643d2c6ef 86 if (motor==1)
Maximousse 0:727643d2c6ef 87 opcode = M1_BACKWARD;
Maximousse 0:727643d2c6ef 88 else
Maximousse 0:727643d2c6ef 89 opcode = M2_BACKWARD;
Maximousse 0:727643d2c6ef 90 }
Maximousse 0:727643d2c6ef 91 unsigned char arg = 0x7f * abs(speed);
Maximousse 0:727643d2c6ef 92
Maximousse 0:727643d2c6ef 93 _ser.putc(opcode);
Maximousse 0:727643d2c6ef 94 _ser.putc(arg);
Maximousse 0:727643d2c6ef 95 }
Maximousse 0:727643d2c6ef 96
Maximousse 0:727643d2c6ef 97 float m3pi::battery() {
Maximousse 0:727643d2c6ef 98 _ser.putc(SEND_BATTERY_MILLIVOLTS);
Maximousse 0:727643d2c6ef 99 char lowbyte = _ser.getc();
Maximousse 0:727643d2c6ef 100 char hibyte = _ser.getc();
Maximousse 0:727643d2c6ef 101 float v = ((lowbyte + (hibyte << 8))/1000.0);
Maximousse 0:727643d2c6ef 102 return(v);
Maximousse 0:727643d2c6ef 103 }
Maximousse 0:727643d2c6ef 104
Maximousse 0:727643d2c6ef 105 float m3pi::line_position() {
Maximousse 0:727643d2c6ef 106 int pos = 0;
Maximousse 0:727643d2c6ef 107 _ser.putc(SEND_LINE_POSITION);
Maximousse 0:727643d2c6ef 108 pos = _ser.getc();
Maximousse 0:727643d2c6ef 109 pos += _ser.getc() << 8;
Maximousse 0:727643d2c6ef 110
Maximousse 0:727643d2c6ef 111 float fpos = ((float)pos - 2048.0)/2048.0;
Maximousse 0:727643d2c6ef 112 return(fpos);
Maximousse 0:727643d2c6ef 113 }
Maximousse 0:727643d2c6ef 114
Maximousse 0:727643d2c6ef 115 void m3pi::calibrated_sensors(unsigned short ltab[5]) {
Maximousse 0:727643d2c6ef 116 unsigned i;
Maximousse 0:727643d2c6ef 117 _ser.putc(SEND_CALIB_SENSOR_VALUES);
Maximousse 0:727643d2c6ef 118 for(i=0;i<5;i++){
Maximousse 0:727643d2c6ef 119 ltab[i] = (unsigned short) _ser.getc();
Maximousse 0:727643d2c6ef 120 ltab[i] += _ser.getc() << 8;
Maximousse 0:727643d2c6ef 121 }
Maximousse 0:727643d2c6ef 122 }
Maximousse 0:727643d2c6ef 123
Maximousse 0:727643d2c6ef 124 char m3pi::sensor_auto_calibrate() {
Maximousse 0:727643d2c6ef 125 _ser.putc(AUTO_CALIBRATE);
Maximousse 0:727643d2c6ef 126 return(_ser.getc());
Maximousse 0:727643d2c6ef 127 }
Maximousse 0:727643d2c6ef 128
Maximousse 0:727643d2c6ef 129
Maximousse 0:727643d2c6ef 130 void m3pi::calibrate(void) {
Maximousse 0:727643d2c6ef 131 _ser.putc(PI_CALIBRATE);
Maximousse 0:727643d2c6ef 132 }
Maximousse 0:727643d2c6ef 133
Maximousse 0:727643d2c6ef 134 void m3pi::reset_calibration() {
Maximousse 0:727643d2c6ef 135 _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
Maximousse 0:727643d2c6ef 136 }
Maximousse 0:727643d2c6ef 137
Maximousse 0:727643d2c6ef 138 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
Maximousse 0:727643d2c6ef 139 _ser.putc(max_speed);
Maximousse 0:727643d2c6ef 140 _ser.putc(a);
Maximousse 0:727643d2c6ef 141 _ser.putc(b);
Maximousse 0:727643d2c6ef 142 _ser.putc(c);
Maximousse 0:727643d2c6ef 143 _ser.putc(d);
Maximousse 0:727643d2c6ef 144 }
Maximousse 0:727643d2c6ef 145
Maximousse 0:727643d2c6ef 146 void m3pi::PID_stop() {
Maximousse 0:727643d2c6ef 147 _ser.putc(STOP_PID);
Maximousse 0:727643d2c6ef 148 }
Maximousse 0:727643d2c6ef 149
Maximousse 0:727643d2c6ef 150 float m3pi::pot_voltage(void) {
Maximousse 0:727643d2c6ef 151 int volt = 0;
Maximousse 0:727643d2c6ef 152 _ser.putc(SEND_TRIMPOT);
Maximousse 0:727643d2c6ef 153 volt = _ser.getc();
Maximousse 0:727643d2c6ef 154 volt += _ser.getc() << 8;
Maximousse 0:727643d2c6ef 155 return(volt);
Maximousse 0:727643d2c6ef 156 }
Maximousse 0:727643d2c6ef 157
Maximousse 0:727643d2c6ef 158
Maximousse 0:727643d2c6ef 159 void m3pi::leds(int val) {
Maximousse 0:727643d2c6ef 160
Maximousse 0:727643d2c6ef 161 BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
Maximousse 0:727643d2c6ef 162 _leds = val;
Maximousse 0:727643d2c6ef 163 }
Maximousse 0:727643d2c6ef 164
Maximousse 0:727643d2c6ef 165
Maximousse 0:727643d2c6ef 166 void m3pi::locate(int x, int y) {
Maximousse 0:727643d2c6ef 167 _ser.putc(DO_LCD_GOTO_XY);
Maximousse 0:727643d2c6ef 168 _ser.putc(x);
Maximousse 0:727643d2c6ef 169 _ser.putc(y);
Maximousse 0:727643d2c6ef 170 }
Maximousse 0:727643d2c6ef 171
Maximousse 0:727643d2c6ef 172 void m3pi::cls(void) {
Maximousse 0:727643d2c6ef 173 _ser.putc(DO_CLEAR);
Maximousse 0:727643d2c6ef 174 }
Maximousse 0:727643d2c6ef 175
Maximousse 0:727643d2c6ef 176 int m3pi::print (char* text, int length) {
Maximousse 0:727643d2c6ef 177 _ser.putc(DO_PRINT);
Maximousse 0:727643d2c6ef 178 _ser.putc(length);
Maximousse 0:727643d2c6ef 179 for (int i = 0 ; i < length ; i++) {
Maximousse 0:727643d2c6ef 180 _ser.putc(text[i]);
Maximousse 0:727643d2c6ef 181 }
Maximousse 0:727643d2c6ef 182 return(0);
Maximousse 0:727643d2c6ef 183 }
Maximousse 0:727643d2c6ef 184
Maximousse 0:727643d2c6ef 185 int m3pi::_putc (int c) {
Maximousse 0:727643d2c6ef 186 _ser.putc(DO_PRINT);
Maximousse 0:727643d2c6ef 187 _ser.putc(0x1);
Maximousse 0:727643d2c6ef 188 _ser.putc(c);
Maximousse 0:727643d2c6ef 189 wait (0.001);
Maximousse 0:727643d2c6ef 190 return(c);
Maximousse 0:727643d2c6ef 191 }
Maximousse 0:727643d2c6ef 192
Maximousse 0:727643d2c6ef 193 int m3pi::_getc (void) {
Maximousse 0:727643d2c6ef 194 char r = 0;
Maximousse 0:727643d2c6ef 195 return(r);
Maximousse 0:727643d2c6ef 196 }
Maximousse 0:727643d2c6ef 197
Maximousse 0:727643d2c6ef 198 int m3pi::putc (int c) {
Maximousse 0:727643d2c6ef 199 return(_ser.putc(c));
Maximousse 0:727643d2c6ef 200 }
Maximousse 0:727643d2c6ef 201
Maximousse 0:727643d2c6ef 202 int m3pi::getc (void) {
Maximousse 0:727643d2c6ef 203 return(_ser.getc());
Maximousse 0:727643d2c6ef 204 }
Maximousse 0:727643d2c6ef 205
Maximousse 0:727643d2c6ef 206
Maximousse 0:727643d2c6ef 207
Maximousse 0:727643d2c6ef 208
Maximousse 0:727643d2c6ef 209
Maximousse 0:727643d2c6ef 210 #ifdef MBED_RPC
Maximousse 0:727643d2c6ef 211 const rpc_method *m3pi::get_rpc_methods() {
Maximousse 0:727643d2c6ef 212 static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
Maximousse 0:727643d2c6ef 213 { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
Maximousse 0:727643d2c6ef 214 { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
Maximousse 0:727643d2c6ef 215 { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
Maximousse 0:727643d2c6ef 216 { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
Maximousse 0:727643d2c6ef 217 { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
Maximousse 0:727643d2c6ef 218 { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
Maximousse 0:727643d2c6ef 219 { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
Maximousse 0:727643d2c6ef 220 { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
Maximousse 0:727643d2c6ef 221 { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
Maximousse 0:727643d2c6ef 222
Maximousse 0:727643d2c6ef 223
Maximousse 0:727643d2c6ef 224 RPC_METHOD_SUPER(Base)
Maximousse 0:727643d2c6ef 225 };
Maximousse 0:727643d2c6ef 226 return rpc_methods;
Maximousse 0:727643d2c6ef 227 }
Maximousse 0:727643d2c6ef 228 #endif
Maximousse 0:727643d2c6ef 229