tp1
Dependencies: mbed
m3pi.h@1:236ac79b07d7, 2020-10-11 (annotated)
- Committer:
- Maximousse
- Date:
- Sun Oct 11 12:58:03 2020 +0000
- Revision:
- 1:236ac79b07d7
- Parent:
- 0:727643d2c6ef
commit;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Maximousse | 0:727643d2c6ef | 1 | /* mbed m3pi Library |
Maximousse | 0:727643d2c6ef | 2 | * Copyright (c) 2007-2010 cstyles |
Maximousse | 0:727643d2c6ef | 3 | * |
Maximousse | 0:727643d2c6ef | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
Maximousse | 0:727643d2c6ef | 5 | * of this software and associated documentation files (the "Software"), to deal |
Maximousse | 0:727643d2c6ef | 6 | * in the Software without restriction, including without limitation the rights |
Maximousse | 0:727643d2c6ef | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
Maximousse | 0:727643d2c6ef | 8 | * copies of the Software, and to permit persons to whom the Software is |
Maximousse | 0:727643d2c6ef | 9 | * furnished to do so, subject to the following conditions: |
Maximousse | 0:727643d2c6ef | 10 | * |
Maximousse | 0:727643d2c6ef | 11 | * The above copyright notice and this permission notice shall be included in |
Maximousse | 0:727643d2c6ef | 12 | * all copies or substantial portions of the Software. |
Maximousse | 0:727643d2c6ef | 13 | * |
Maximousse | 0:727643d2c6ef | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
Maximousse | 0:727643d2c6ef | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
Maximousse | 0:727643d2c6ef | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
Maximousse | 0:727643d2c6ef | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
Maximousse | 0:727643d2c6ef | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
Maximousse | 0:727643d2c6ef | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
Maximousse | 0:727643d2c6ef | 20 | * THE SOFTWARE. |
Maximousse | 0:727643d2c6ef | 21 | */ |
Maximousse | 0:727643d2c6ef | 22 | |
Maximousse | 0:727643d2c6ef | 23 | #ifndef M3PI_H |
Maximousse | 0:727643d2c6ef | 24 | #define M3PI_H |
Maximousse | 0:727643d2c6ef | 25 | |
Maximousse | 0:727643d2c6ef | 26 | #include "mbed.h" |
Maximousse | 0:727643d2c6ef | 27 | #include "platform.h" |
Maximousse | 0:727643d2c6ef | 28 | |
Maximousse | 0:727643d2c6ef | 29 | #ifdef MBED_RPC |
Maximousse | 0:727643d2c6ef | 30 | #include "rpc.h" |
Maximousse | 0:727643d2c6ef | 31 | #endif |
Maximousse | 0:727643d2c6ef | 32 | |
Maximousse | 0:727643d2c6ef | 33 | #define SEND_SIGNATURE 0x81 |
Maximousse | 0:727643d2c6ef | 34 | #define SEND_RAW_SENSOR_VALUES 0x86 |
Maximousse | 0:727643d2c6ef | 35 | #define SEND_CALIB_SENSOR_VALUES 0x87 |
Maximousse | 0:727643d2c6ef | 36 | #define SEND_TRIMPOT 0xB0 |
Maximousse | 0:727643d2c6ef | 37 | #define SEND_BATTERY_MILLIVOLTS 0xB1 |
Maximousse | 0:727643d2c6ef | 38 | #define DO_PLAY 0xB3 |
Maximousse | 0:727643d2c6ef | 39 | #define PI_CALIBRATE 0xB4 |
Maximousse | 0:727643d2c6ef | 40 | #define DO_CLEAR 0xB7 |
Maximousse | 0:727643d2c6ef | 41 | #define DO_PRINT 0xB8 |
Maximousse | 0:727643d2c6ef | 42 | #define DO_LCD_GOTO_XY 0xB9 |
Maximousse | 0:727643d2c6ef | 43 | #define LINE_SENSORS_RESET_CALIBRATION 0xB5 |
Maximousse | 0:727643d2c6ef | 44 | #define SEND_LINE_POSITION 0xB6 |
Maximousse | 0:727643d2c6ef | 45 | #define AUTO_CALIBRATE 0xBA |
Maximousse | 0:727643d2c6ef | 46 | #define SET_PID 0xBB |
Maximousse | 0:727643d2c6ef | 47 | #define STOP_PID 0xBC |
Maximousse | 0:727643d2c6ef | 48 | #define M1_FORWARD 0xC1 |
Maximousse | 0:727643d2c6ef | 49 | #define M1_BACKWARD 0xC2 |
Maximousse | 0:727643d2c6ef | 50 | #define M2_FORWARD 0xC5 |
Maximousse | 0:727643d2c6ef | 51 | #define M2_BACKWARD 0xC6 |
Maximousse | 0:727643d2c6ef | 52 | |
Maximousse | 0:727643d2c6ef | 53 | |
Maximousse | 0:727643d2c6ef | 54 | |
Maximousse | 0:727643d2c6ef | 55 | /** m3pi control class |
Maximousse | 0:727643d2c6ef | 56 | * |
Maximousse | 0:727643d2c6ef | 57 | * Example: |
Maximousse | 0:727643d2c6ef | 58 | * @code |
Maximousse | 0:727643d2c6ef | 59 | * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second |
Maximousse | 0:727643d2c6ef | 60 | |
Maximousse | 0:727643d2c6ef | 61 | #include "mbed.h" |
Maximousse | 0:727643d2c6ef | 62 | #include "m3pi.h" |
Maximousse | 0:727643d2c6ef | 63 | |
Maximousse | 0:727643d2c6ef | 64 | m3pi pi; |
Maximousse | 0:727643d2c6ef | 65 | |
Maximousse | 0:727643d2c6ef | 66 | int main() { |
Maximousse | 0:727643d2c6ef | 67 | |
Maximousse | 0:727643d2c6ef | 68 | wait(0.5); |
Maximousse | 0:727643d2c6ef | 69 | |
Maximousse | 0:727643d2c6ef | 70 | pi.forward(0.5); |
Maximousse | 0:727643d2c6ef | 71 | wait (0.5); |
Maximousse | 0:727643d2c6ef | 72 | pi.left(0.5); |
Maximousse | 0:727643d2c6ef | 73 | wait (0.5); |
Maximousse | 0:727643d2c6ef | 74 | pi.backward(0.5); |
Maximousse | 0:727643d2c6ef | 75 | wait (0.5); |
Maximousse | 0:727643d2c6ef | 76 | pi.right(0.5); |
Maximousse | 0:727643d2c6ef | 77 | wait (0.5); |
Maximousse | 0:727643d2c6ef | 78 | |
Maximousse | 0:727643d2c6ef | 79 | pi.stop(); |
Maximousse | 0:727643d2c6ef | 80 | |
Maximousse | 0:727643d2c6ef | 81 | } |
Maximousse | 0:727643d2c6ef | 82 | * @endcode |
Maximousse | 0:727643d2c6ef | 83 | */ |
Maximousse | 0:727643d2c6ef | 84 | class m3pi : public Stream { |
Maximousse | 0:727643d2c6ef | 85 | |
Maximousse | 0:727643d2c6ef | 86 | // Public functions |
Maximousse | 0:727643d2c6ef | 87 | public: |
Maximousse | 0:727643d2c6ef | 88 | |
Maximousse | 0:727643d2c6ef | 89 | /** Create the m3pi object connected to the default pins |
Maximousse | 0:727643d2c6ef | 90 | * |
Maximousse | 0:727643d2c6ef | 91 | * @param nrst GPIO pin used for reset. Default is p23 |
Maximousse | 0:727643d2c6ef | 92 | * @param tx Serial transmit pin. Default is p9 |
Maximousse | 0:727643d2c6ef | 93 | * @param rx Serial receive pin. Default is p10 |
Maximousse | 0:727643d2c6ef | 94 | */ |
Maximousse | 0:727643d2c6ef | 95 | m3pi(); |
Maximousse | 0:727643d2c6ef | 96 | |
Maximousse | 0:727643d2c6ef | 97 | |
Maximousse | 0:727643d2c6ef | 98 | /** Create the m3pi object connected to specific pins |
Maximousse | 0:727643d2c6ef | 99 | * |
Maximousse | 0:727643d2c6ef | 100 | */ |
Maximousse | 0:727643d2c6ef | 101 | m3pi(PinName nrst, PinName tx, PinName rx); |
Maximousse | 0:727643d2c6ef | 102 | |
Maximousse | 0:727643d2c6ef | 103 | |
Maximousse | 0:727643d2c6ef | 104 | |
Maximousse | 0:727643d2c6ef | 105 | /** Force a hardware reset of the 3pi |
Maximousse | 0:727643d2c6ef | 106 | */ |
Maximousse | 0:727643d2c6ef | 107 | void reset (void); |
Maximousse | 0:727643d2c6ef | 108 | |
Maximousse | 0:727643d2c6ef | 109 | /** Directly control the speed and direction of the left motor |
Maximousse | 0:727643d2c6ef | 110 | * |
Maximousse | 0:727643d2c6ef | 111 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
Maximousse | 0:727643d2c6ef | 112 | */ |
Maximousse | 0:727643d2c6ef | 113 | void left_motor (float speed); |
Maximousse | 0:727643d2c6ef | 114 | |
Maximousse | 0:727643d2c6ef | 115 | /** Directly control the speed and direction of the right motor |
Maximousse | 0:727643d2c6ef | 116 | * |
Maximousse | 0:727643d2c6ef | 117 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
Maximousse | 0:727643d2c6ef | 118 | */ |
Maximousse | 0:727643d2c6ef | 119 | void right_motor (float speed); |
Maximousse | 0:727643d2c6ef | 120 | |
Maximousse | 0:727643d2c6ef | 121 | /** Drive both motors forward as the same speed |
Maximousse | 0:727643d2c6ef | 122 | * |
Maximousse | 0:727643d2c6ef | 123 | * @param speed A normalised number 0 - 1.0 represents the full range. |
Maximousse | 0:727643d2c6ef | 124 | */ |
Maximousse | 0:727643d2c6ef | 125 | void forward (float speed); |
Maximousse | 0:727643d2c6ef | 126 | |
Maximousse | 0:727643d2c6ef | 127 | /** Drive both motors backward as the same speed |
Maximousse | 0:727643d2c6ef | 128 | * |
Maximousse | 0:727643d2c6ef | 129 | * @param speed A normalised number 0 - 1.0 represents the full range. |
Maximousse | 0:727643d2c6ef | 130 | */ |
Maximousse | 0:727643d2c6ef | 131 | void backward (float speed); |
Maximousse | 0:727643d2c6ef | 132 | |
Maximousse | 0:727643d2c6ef | 133 | /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot |
Maximousse | 0:727643d2c6ef | 134 | * |
Maximousse | 0:727643d2c6ef | 135 | * @param speed A normalised number 0 - 1.0 represents the full range. |
Maximousse | 0:727643d2c6ef | 136 | */ |
Maximousse | 0:727643d2c6ef | 137 | void left (float speed); |
Maximousse | 0:727643d2c6ef | 138 | |
Maximousse | 0:727643d2c6ef | 139 | /** Drive left motor forward and right motor backwards at the same speed to turn on the spot |
Maximousse | 0:727643d2c6ef | 140 | * @param speed A normalised number 0 - 1.0 represents the full range. |
Maximousse | 0:727643d2c6ef | 141 | */ |
Maximousse | 0:727643d2c6ef | 142 | void right (float speed); |
Maximousse | 0:727643d2c6ef | 143 | |
Maximousse | 0:727643d2c6ef | 144 | /** Stop both motors |
Maximousse | 0:727643d2c6ef | 145 | * |
Maximousse | 0:727643d2c6ef | 146 | */ |
Maximousse | 0:727643d2c6ef | 147 | void stop (void); |
Maximousse | 0:727643d2c6ef | 148 | |
Maximousse | 0:727643d2c6ef | 149 | /** Read the voltage of the potentiometer on the 3pi |
Maximousse | 0:727643d2c6ef | 150 | * @returns voltage as a float |
Maximousse | 0:727643d2c6ef | 151 | * |
Maximousse | 0:727643d2c6ef | 152 | */ |
Maximousse | 0:727643d2c6ef | 153 | float pot_voltage(void); |
Maximousse | 0:727643d2c6ef | 154 | |
Maximousse | 0:727643d2c6ef | 155 | /** Read the battery voltage on the 3pi |
Maximousse | 0:727643d2c6ef | 156 | * @returns battery voltage as a float |
Maximousse | 0:727643d2c6ef | 157 | */ |
Maximousse | 0:727643d2c6ef | 158 | float battery(void); |
Maximousse | 0:727643d2c6ef | 159 | |
Maximousse | 0:727643d2c6ef | 160 | /** Read the position of the detected line |
Maximousse | 0:727643d2c6ef | 161 | * @returns position as A normalised number -1.0 - 1.0 represents the full range. |
Maximousse | 0:727643d2c6ef | 162 | * -1.0 means line is on the left, or the line has been lost |
Maximousse | 0:727643d2c6ef | 163 | * 0.0 means the line is in the middle |
Maximousse | 0:727643d2c6ef | 164 | * 1.0 means the line is on the right |
Maximousse | 0:727643d2c6ef | 165 | */ |
Maximousse | 0:727643d2c6ef | 166 | float line_position (void); |
Maximousse | 0:727643d2c6ef | 167 | /** lecture capteurs calibres |
Maximousse | 0:727643d2c6ef | 168 | * @returns tableau val capteurs de gauche à droite |
Maximousse | 0:727643d2c6ef | 169 | * 0 blanc (reflexion max) |
Maximousse | 0:727643d2c6ef | 170 | * 1000 noir (pas de reflexion) |
Maximousse | 0:727643d2c6ef | 171 | */ |
Maximousse | 0:727643d2c6ef | 172 | void calibrated_sensors(unsigned short ltab[5]); |
Maximousse | 0:727643d2c6ef | 173 | |
Maximousse | 0:727643d2c6ef | 174 | /** Calibrate the sensors. This turns the robot left then right, looking for a line |
Maximousse | 0:727643d2c6ef | 175 | * |
Maximousse | 0:727643d2c6ef | 176 | */ |
Maximousse | 0:727643d2c6ef | 177 | char sensor_auto_calibrate (void); |
Maximousse | 0:727643d2c6ef | 178 | |
Maximousse | 0:727643d2c6ef | 179 | /** Set calibration manually to the current settings. |
Maximousse | 0:727643d2c6ef | 180 | * |
Maximousse | 0:727643d2c6ef | 181 | */ |
Maximousse | 0:727643d2c6ef | 182 | void calibrate(void); |
Maximousse | 0:727643d2c6ef | 183 | |
Maximousse | 0:727643d2c6ef | 184 | /** Clear the current calibration settings |
Maximousse | 0:727643d2c6ef | 185 | * |
Maximousse | 0:727643d2c6ef | 186 | */ |
Maximousse | 0:727643d2c6ef | 187 | void reset_calibration (void); |
Maximousse | 0:727643d2c6ef | 188 | |
Maximousse | 0:727643d2c6ef | 189 | void PID_start(int max_speed, int a, int b, int c, int d); |
Maximousse | 0:727643d2c6ef | 190 | |
Maximousse | 0:727643d2c6ef | 191 | void PID_stop(); |
Maximousse | 0:727643d2c6ef | 192 | |
Maximousse | 0:727643d2c6ef | 193 | /** Write to the 8 LEDs |
Maximousse | 0:727643d2c6ef | 194 | * |
Maximousse | 0:727643d2c6ef | 195 | * @param leds An 8 bit value to put on the LEDs |
Maximousse | 0:727643d2c6ef | 196 | */ |
Maximousse | 0:727643d2c6ef | 197 | void leds(int val); |
Maximousse | 0:727643d2c6ef | 198 | |
Maximousse | 0:727643d2c6ef | 199 | /** Locate the cursor on the 8x2 LCD |
Maximousse | 0:727643d2c6ef | 200 | * |
Maximousse | 0:727643d2c6ef | 201 | * @param x The horizontal position, from 0 to 7 |
Maximousse | 0:727643d2c6ef | 202 | * @param y The vertical position, from 0 to 1 |
Maximousse | 0:727643d2c6ef | 203 | */ |
Maximousse | 0:727643d2c6ef | 204 | void locate(int x, int y); |
Maximousse | 0:727643d2c6ef | 205 | |
Maximousse | 0:727643d2c6ef | 206 | /** Clear the LCD |
Maximousse | 0:727643d2c6ef | 207 | * |
Maximousse | 0:727643d2c6ef | 208 | */ |
Maximousse | 0:727643d2c6ef | 209 | void cls(void); |
Maximousse | 0:727643d2c6ef | 210 | |
Maximousse | 0:727643d2c6ef | 211 | /** Send a character directly to the 3pi serial interface |
Maximousse | 0:727643d2c6ef | 212 | * @param c The character to send to the 3pi |
Maximousse | 0:727643d2c6ef | 213 | */ |
Maximousse | 0:727643d2c6ef | 214 | int putc(int c); |
Maximousse | 0:727643d2c6ef | 215 | |
Maximousse | 0:727643d2c6ef | 216 | /** Receive a character directly to the 3pi serial interface |
Maximousse | 0:727643d2c6ef | 217 | * @returns c The character received from the 3pi |
Maximousse | 0:727643d2c6ef | 218 | */ |
Maximousse | 0:727643d2c6ef | 219 | int getc(); |
Maximousse | 0:727643d2c6ef | 220 | |
Maximousse | 0:727643d2c6ef | 221 | /** Send a string buffer to the 3pi serial interface |
Maximousse | 0:727643d2c6ef | 222 | * @param text A pointer to a char array |
Maximousse | 0:727643d2c6ef | 223 | * @param int The character to send to the 3pi |
Maximousse | 0:727643d2c6ef | 224 | */ |
Maximousse | 0:727643d2c6ef | 225 | int print(char* text, int length); |
Maximousse | 0:727643d2c6ef | 226 | |
Maximousse | 0:727643d2c6ef | 227 | #ifdef MBED_RPC |
Maximousse | 0:727643d2c6ef | 228 | virtual const struct rpc_method *get_rpc_methods(); |
Maximousse | 0:727643d2c6ef | 229 | #endif |
Maximousse | 0:727643d2c6ef | 230 | |
Maximousse | 0:727643d2c6ef | 231 | private : |
Maximousse | 0:727643d2c6ef | 232 | |
Maximousse | 0:727643d2c6ef | 233 | DigitalOut _nrst; |
Maximousse | 0:727643d2c6ef | 234 | Serial _ser; |
Maximousse | 0:727643d2c6ef | 235 | |
Maximousse | 0:727643d2c6ef | 236 | void motor (int motor, float speed); |
Maximousse | 0:727643d2c6ef | 237 | virtual int _putc(int c); |
Maximousse | 0:727643d2c6ef | 238 | virtual int _getc(); |
Maximousse | 0:727643d2c6ef | 239 | |
Maximousse | 0:727643d2c6ef | 240 | }; |
Maximousse | 0:727643d2c6ef | 241 | |
Maximousse | 0:727643d2c6ef | 242 | #endif |