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(1,speed);
00047 }
00048 
00049 void m3pi::right_motor (float speed) {
00050     motor(0,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::motor (int motor, float speed) {
00079     char opcode = 0x0;
00080     if (speed > 0.0) {
00081         if (motor==1)
00082             opcode = M1_FORWARD;
00083         else
00084             opcode = M2_FORWARD;
00085     } else {
00086         if (motor==1)
00087             opcode = M1_BACKWARD;
00088         else
00089             opcode = M2_BACKWARD;
00090     }
00091     unsigned char arg = 0x7f * abs(speed);
00092 
00093     _ser.putc(opcode);
00094     _ser.putc(arg);
00095 }
00096 
00097 float m3pi::battery() {
00098     _ser.putc(SEND_BATTERY_MILLIVOLTS);
00099     char lowbyte = _ser.getc();
00100     char hibyte  = _ser.getc();
00101     float v = ((lowbyte + (hibyte << 8))/1000.0);
00102     return(v);
00103 }
00104 
00105 float m3pi::line_position() {
00106     int pos = 0;
00107     _ser.putc(SEND_LINE_POSITION);
00108     pos = _ser.getc();
00109     pos += _ser.getc() << 8;
00110     
00111     float fpos = ((float)pos - 2048.0)/2048.0;
00112     return(fpos);
00113 }
00114 
00115 void m3pi::calibrated_sensors(unsigned short ltab[5]) {
00116     unsigned i;
00117     _ser.putc(SEND_CALIB_SENSOR_VALUES);
00118     for(i=0;i<5;i++){
00119         ltab[i] = (unsigned short) _ser.getc();
00120         ltab[i] += _ser.getc() << 8;
00121     }
00122 }
00123 
00124 char m3pi::sensor_auto_calibrate() {
00125     _ser.putc(AUTO_CALIBRATE);
00126     return(_ser.getc());
00127 }
00128 
00129 
00130 void m3pi::calibrate(void) {
00131     _ser.putc(PI_CALIBRATE);
00132 }
00133 
00134 void m3pi::reset_calibration() {
00135     _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
00136 }
00137 
00138 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
00139     _ser.putc(max_speed);
00140     _ser.putc(a);
00141     _ser.putc(b);
00142     _ser.putc(c);
00143     _ser.putc(d);
00144 }
00145 
00146 void m3pi::PID_stop() {
00147     _ser.putc(STOP_PID);
00148 }
00149 
00150 float m3pi::pot_voltage(void) {
00151     int volt = 0;
00152     _ser.putc(SEND_TRIMPOT);
00153     volt = _ser.getc();
00154     volt += _ser.getc() << 8;
00155     return(volt);
00156 }
00157 
00158 
00159 void m3pi::leds(int val) {
00160 
00161     BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
00162     _leds = val;
00163 }
00164 
00165 
00166 void m3pi::locate(int x, int y) {
00167     _ser.putc(DO_LCD_GOTO_XY);
00168     _ser.putc(x);
00169     _ser.putc(y);
00170 }
00171 
00172 void m3pi::cls(void) {
00173     _ser.putc(DO_CLEAR);
00174 }
00175 
00176 int m3pi::print (char* text, int length) {
00177     _ser.putc(DO_PRINT);  
00178     _ser.putc(length);       
00179     for (int i = 0 ; i < length ; i++) {
00180         _ser.putc(text[i]); 
00181     }
00182     return(0);
00183 }
00184 
00185 
00186 void m3pi::play (char* music, int length) {
00187     // The default 3pi serial slave program
00188     // will not accept music strings longer than 100.
00189     if (length > 100)
00190         length = 100;
00191     _ser.putc(DO_PLAY);
00192     _ser.putc(length);
00193     for (int i = 0 ; i < length ; i++) {
00194         _ser.putc(music[i]); 
00195     }
00196 }
00197 
00198 int m3pi::_putc (int c) {
00199     _ser.putc(DO_PRINT);  
00200     _ser.putc(0x1);       
00201     _ser.putc(c);         
00202     wait (0.001);
00203     return(c);
00204 }
00205 
00206 int m3pi::_getc (void) {
00207     char r = 0;
00208     return(r);
00209 }
00210 
00211 int m3pi::putc (int c) {
00212     return(_ser.putc(c));
00213 }
00214 
00215 int m3pi::getc (void) {
00216     return(_ser.getc());
00217 }
00218 
00219 
00220 
00221 
00222 
00223 #ifdef MBED_RPC
00224 const rpc_method *m3pi::get_rpc_methods() {
00225     static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
00226         { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
00227         { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
00228         { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
00229         { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
00230         { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
00231         { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
00232         { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
00233         { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
00234         { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
00235 
00236 
00237         RPC_METHOD_SUPER(Base)
00238     };
00239     return rpc_methods;
00240 }
00241 #endif