Polybot / m3pi_test2

voici

Fork of m3pi by Samir Bouaziz

m3pi.h@1:816a80dcc1a3, 2010-10-29 (annotated)

Committer:
chris
Date:
Fri Oct 29 13:30:11 2010 +0000
Revision:
1:816a80dcc1a3
Parent:
0:e6020bd04b45
Child:
4:54c673c71fc0
1.1 - Added some additional features, including PID demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:e6020bd04b45 1 /* mbed m3pi Library
chris 0:e6020bd04b45 2 * Copyright (c) 2007-2010 cstyles
chris 0:e6020bd04b45 3 *
chris 0:e6020bd04b45 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
chris 0:e6020bd04b45 5 * of this software and associated documentation files (the "Software"), to deal
chris 0:e6020bd04b45 6 * in the Software without restriction, including without limitation the rights
chris 0:e6020bd04b45 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chris 0:e6020bd04b45 8 * copies of the Software, and to permit persons to whom the Software is
chris 0:e6020bd04b45 9 * furnished to do so, subject to the following conditions:
chris 0:e6020bd04b45 10 *
chris 0:e6020bd04b45 11 * The above copyright notice and this permission notice shall be included in
chris 0:e6020bd04b45 12 * all copies or substantial portions of the Software.
chris 0:e6020bd04b45 13 *
chris 0:e6020bd04b45 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chris 0:e6020bd04b45 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chris 0:e6020bd04b45 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chris 0:e6020bd04b45 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chris 0:e6020bd04b45 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chris 0:e6020bd04b45 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chris 0:e6020bd04b45 20 * THE SOFTWARE.
chris 0:e6020bd04b45 21 */
chris 0:e6020bd04b45 22
chris 0:e6020bd04b45 23 #ifndef M3PI_H
chris 0:e6020bd04b45 24 #define M3PI_H
chris 0:e6020bd04b45 25
chris 0:e6020bd04b45 26 #include "mbed.h"
chris 0:e6020bd04b45 27 #include "platform.h"
chris 0:e6020bd04b45 28
chris 0:e6020bd04b45 29 #ifdef MBED_RPC
chris 0:e6020bd04b45 30 #include "rpc.h"
chris 0:e6020bd04b45 31 #endif
chris 0:e6020bd04b45 32
chris 0:e6020bd04b45 33 #define SEND_SIGNATURE 0x81
chris 0:e6020bd04b45 34 #define SEND_RAW_SENSOR_VALUES 0x86
chris 0:e6020bd04b45 35 #define SEND_TRIMPOT 0xB0
chris 0:e6020bd04b45 36 #define SEND_BATTERY_MILLIVOLTS 0xB1
chris 0:e6020bd04b45 37 #define DO_PLAY 0xB3
chris 0:e6020bd04b45 38 #define PI_CALIBRATE 0xB4
chris 0:e6020bd04b45 39 #define DO_CLEAR 0xB7
chris 0:e6020bd04b45 40 #define DO_PRINT 0xB8
chris 0:e6020bd04b45 41 #define DO_LCD_GOTO_XY 0xB9
chris 0:e6020bd04b45 42 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
chris 0:e6020bd04b45 43 #define SEND_LINE_POSITION 0xB6
chris 0:e6020bd04b45 44 #define AUTO_CALIBRATE 0xBA
chris 0:e6020bd04b45 45 #define SET_PID 0xBB
chris 0:e6020bd04b45 46 #define STOP_PID 0xBC
chris 0:e6020bd04b45 47 #define M1_FORWARD 0xC1
chris 0:e6020bd04b45 48 #define M1_BACKWARD 0xC2
chris 0:e6020bd04b45 49 #define M2_FORWARD 0xC5
chris 0:e6020bd04b45 50 #define M2_BACKWARD 0xC6
chris 0:e6020bd04b45 51
chris 0:e6020bd04b45 52
chris 0:e6020bd04b45 53
chris 0:e6020bd04b45 54
chris 0:e6020bd04b45 55
chris 0:e6020bd04b45 56
chris 0:e6020bd04b45 57
chris 0:e6020bd04b45 58 /** m3pi control class
chris 0:e6020bd04b45 59 *
chris 0:e6020bd04b45 60 * Example:
chris 0:e6020bd04b45 61 * @code
chris 0:e6020bd04b45 62 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
chris 0:e6020bd04b45 63
chris 0:e6020bd04b45 64 #include "mbed.h"
chris 0:e6020bd04b45 65 #include "m3pi.h"
chris 0:e6020bd04b45 66
chris 0:e6020bd04b45 67 m3pi pi(p8,p9,p10);
chris 0:e6020bd04b45 68
chris 0:e6020bd04b45 69 int main() {
chris 0:e6020bd04b45 70
chris 0:e6020bd04b45 71 wait(0.5);
chris 0:e6020bd04b45 72
chris 0:e6020bd04b45 73 pi.forward(0.5);
chris 0:e6020bd04b45 74 wait (0.5);
chris 0:e6020bd04b45 75 pi.left(0.5);
chris 0:e6020bd04b45 76 wait (0.5);
chris 0:e6020bd04b45 77 pi.backward(0.5);
chris 0:e6020bd04b45 78 wait (0.5);
chris 0:e6020bd04b45 79 pi.right(0.5);
chris 0:e6020bd04b45 80 wait (0.5);
chris 0:e6020bd04b45 81
chris 0:e6020bd04b45 82 pi.stop();
chris 0:e6020bd04b45 83
chris 0:e6020bd04b45 84 }
chris 0:e6020bd04b45 85 * @endcode
chris 0:e6020bd04b45 86 */
chris 0:e6020bd04b45 87 class m3pi : public Stream {
chris 0:e6020bd04b45 88
chris 0:e6020bd04b45 89 // Public functions
chris 0:e6020bd04b45 90 public:
chris 0:e6020bd04b45 91
chris 0:e6020bd04b45 92 /** Create the m3pi object connected to the default pins
chris 0:e6020bd04b45 93 *
chris 0:e6020bd04b45 94 * @param nrst GPIO pin used for reset. Default is p8
chris 0:e6020bd04b45 95 * @param tx Serial transmit pin. Default is p9
chris 0:e6020bd04b45 96 * @param rx Serial receive pin. Default is p10
chris 0:e6020bd04b45 97 */
chris 0:e6020bd04b45 98 m3pi(PinName nrst, PinName tx, PinName rx);
chris 0:e6020bd04b45 99
chris 0:e6020bd04b45 100
chris 0:e6020bd04b45 101 /** Force a hardware reset of the 3pi
chris 0:e6020bd04b45 102 */
chris 0:e6020bd04b45 103 void reset (void);
chris 0:e6020bd04b45 104
chris 0:e6020bd04b45 105 /** Directly control the speed and direction of the left motor
chris 0:e6020bd04b45 106 *
chris 0:e6020bd04b45 107 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chris 0:e6020bd04b45 108 */
chris 0:e6020bd04b45 109 void left_motor (float speed);
chris 0:e6020bd04b45 110
chris 0:e6020bd04b45 111 /** Directly control the speed and direction of the right motor
chris 0:e6020bd04b45 112 *
chris 0:e6020bd04b45 113 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chris 0:e6020bd04b45 114 */
chris 0:e6020bd04b45 115 void right_motor (float speed);
chris 0:e6020bd04b45 116
chris 0:e6020bd04b45 117 /** Drive both motors forward as the same speed
chris 0:e6020bd04b45 118 *
chris 0:e6020bd04b45 119 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 120 */
chris 0:e6020bd04b45 121 void forward (float speed);
chris 0:e6020bd04b45 122
chris 0:e6020bd04b45 123 /** Drive both motors backward as the same speed
chris 0:e6020bd04b45 124 *
chris 0:e6020bd04b45 125 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 126 */
chris 0:e6020bd04b45 127 void backward (float speed);
chris 0:e6020bd04b45 128
chris 0:e6020bd04b45 129 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
chris 0:e6020bd04b45 130 *
chris 0:e6020bd04b45 131 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 132 */
chris 0:e6020bd04b45 133 void left (float speed);
chris 0:e6020bd04b45 134
chris 0:e6020bd04b45 135 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
chris 0:e6020bd04b45 136 *
chris 0:e6020bd04b45 137 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 138 */
chris 0:e6020bd04b45 139 void right (float speed);
chris 0:e6020bd04b45 140
chris 0:e6020bd04b45 141 /** Stop both motors
chris 0:e6020bd04b45 142 *
chris 0:e6020bd04b45 143 */
chris 0:e6020bd04b45 144 void stop (void);
chris 0:e6020bd04b45 145
chris 0:e6020bd04b45 146 /** Read the voltage of the potentiometer on the 3pi
chris 0:e6020bd04b45 147 * @returns voltage as a float
chris 0:e6020bd04b45 148 *
chris 0:e6020bd04b45 149 */
chris 0:e6020bd04b45 150 float pot_voltage(void);
chris 0:e6020bd04b45 151
chris 0:e6020bd04b45 152 /** Read the battery voltage on the 3pi
chris 0:e6020bd04b45 153 * @returns battery voltage as a float
chris 0:e6020bd04b45 154 *
chris 0:e6020bd04b45 155 */
chris 0:e6020bd04b45 156 float battery(void);
chris 0:e6020bd04b45 157
chris 0:e6020bd04b45 158 /** Read the position of the detected line
chris 0:e6020bd04b45 159 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
chris 0:e6020bd04b45 160 *
chris 0:e6020bd04b45 161 */
chris 0:e6020bd04b45 162 float line_position (void);
chris 0:e6020bd04b45 163
chris 0:e6020bd04b45 164
chris 0:e6020bd04b45 165 /** Calibrate the sensors. This turns the robot left then right, loking for a line
chris 0:e6020bd04b45 166 *
chris 0:e6020bd04b45 167 */
chris 0:e6020bd04b45 168 char sensor_auto_calibrate (void);
chris 0:e6020bd04b45 169
chris 0:e6020bd04b45 170 /** Set calibration manually to the current settings.
chris 0:e6020bd04b45 171 *
chris 0:e6020bd04b45 172 */
chris 0:e6020bd04b45 173 void calibrate(void);
chris 0:e6020bd04b45 174
chris 0:e6020bd04b45 175 /** Clear the current calibration settings
chris 0:e6020bd04b45 176 *
chris 0:e6020bd04b45 177 */
chris 0:e6020bd04b45 178 void reset_calibration (void);
chris 0:e6020bd04b45 179
chris 1:816a80dcc1a3 180 void PID_start(int max_speed, int a, int b, int c, int d);
chris 1:816a80dcc1a3 181
chris 1:816a80dcc1a3 182 void PID_stop();
chris 1:816a80dcc1a3 183
chris 1:816a80dcc1a3 184
chris 0:e6020bd04b45 185 /** Locate the cursor on the 8x2 LCD
chris 0:e6020bd04b45 186 *
chris 0:e6020bd04b45 187 * @param x The horizontal position, from 0 to 7
chris 0:e6020bd04b45 188 * @param y The vertical position, from 0 to 1
chris 0:e6020bd04b45 189 */
chris 0:e6020bd04b45 190 void locate(int x, int y);
chris 0:e6020bd04b45 191
chris 0:e6020bd04b45 192 /** Clear the LCD
chris 0:e6020bd04b45 193 *
chris 0:e6020bd04b45 194 */
chris 0:e6020bd04b45 195 void cls(void);
chris 0:e6020bd04b45 196
chris 0:e6020bd04b45 197 /** Send a character directly to the 3pi serial interface
chris 0:e6020bd04b45 198 * @param c The character to send to the 3pi
chris 0:e6020bd04b45 199 */
chris 0:e6020bd04b45 200 int putc(int c);
chris 0:e6020bd04b45 201
chris 0:e6020bd04b45 202 /** Receive a character directly to the 3pi serial interface
chris 0:e6020bd04b45 203 * @returns c The character received from the 3pi
chris 0:e6020bd04b45 204 */
chris 0:e6020bd04b45 205 int getc();
chris 0:e6020bd04b45 206
chris 0:e6020bd04b45 207 /** Send a string buffer to the 3pi serial interface
chris 0:e6020bd04b45 208 * @param text A pointer to a char array
chris 0:e6020bd04b45 209 * @param int The character to send to the 3pi
chris 0:e6020bd04b45 210 */
chris 0:e6020bd04b45 211 int print(char* text, int length);
chris 0:e6020bd04b45 212
chris 0:e6020bd04b45 213 #ifdef MBED_RPC
chris 0:e6020bd04b45 214 virtual const struct rpc_method *get_rpc_methods();
chris 0:e6020bd04b45 215 #endif
chris 0:e6020bd04b45 216
chris 0:e6020bd04b45 217 private :
chris 0:e6020bd04b45 218
chris 0:e6020bd04b45 219 DigitalOut _nrst;
chris 0:e6020bd04b45 220 Serial _ser;
chris 0:e6020bd04b45 221 void motor (int motor, float speed);
chris 0:e6020bd04b45 222 virtual int _putc(int c);
chris 0:e6020bd04b45 223 virtual int _getc();
chris 0:e6020bd04b45 224
chris 0:e6020bd04b45 225 };
chris 0:e6020bd04b45 226
chris 0:e6020bd04b45 227 #endif