Projet_APP5 / zumo

librairie pour robot Zumo

zumo.h@12:d9c9ef63c5ff, 2022-01-10 (annotated)

Committer:
bouaziz
Date:
Mon Jan 10 23:00:47 2022 +0000
Revision:
12:d9c9ef63c5ff
Parent:
11:1082c5b3b418 
amelioration lib Zumo polytech paris saclay

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bouaziz 10:7935bbc4ebf1 1 /* mbed zumo 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
bouaziz 10:7935bbc4ebf1 23 #ifndef zumo_H
bouaziz 10:7935bbc4ebf1 24 #define zumo_H
chris 0:e6020bd04b45 25
chris 0:e6020bd04b45 26 #include "mbed.h"
chris 0:e6020bd04b45 27 #include "platform.h"
chris 0:e6020bd04b45 28
bouaziz 12:d9c9ef63c5ff 29 // commandes pour le ZUMO
bouaziz 11:1082c5b3b418 30 #define SEND_MOTOR_SPEED 0xA4
bouaziz 11:1082c5b3b418 31 #define SEND_MOTOR_STOP 0xA0
bouaziz 12:d9c9ef63c5ff 32 #define SEND_ROTATE_GYRO 0x94
bouaziz 12:d9c9ef63c5ff 33 #define SEND_AVANCE 0x84
bouaziz 12:d9c9ef63c5ff 34 #define SEND_CALIBRE_LIGNE 0x60
bouaziz 12:d9c9ef63c5ff 35 #define READ_SENSOR 0x71
bouaziz 12:d9c9ef63c5ff 36
bouaziz 12:d9c9ef63c5ff 37
bouaziz 12:d9c9ef63c5ff 38
bouaziz 12:d9c9ef63c5ff 39 // sous commande de la commande READ_SENSOR
bouaziz 12:d9c9ef63c5ff 40 #define DATA_SENSOR_GYRO 0x12
bouaziz 12:d9c9ef63c5ff 41 #define DATA_SENSOR_MEANDIST 0x24
bouaziz 12:d9c9ef63c5ff 42 #define DATA_SENSOR_LRDIST 0x38
bouaziz 12:d9c9ef63c5ff 43 #define DATA_SENSOR_LIGNE 0x42
bouaziz 12:d9c9ef63c5ff 44 #define DATA_SENSOR_LIGNE_5BIT 0x51
bouaziz 12:d9c9ef63c5ff 45 #define DATA_SENSOR_OBSTACLE 0x62
bouaziz 11:1082c5b3b418 46
bouaziz 11:1082c5b3b418 47
bouaziz 11:1082c5b3b418 48
bouaziz 9:f65c5aa1775c 49 #define SEND_CALIB_SENSOR_VALUES 0x87
chris 0:e6020bd04b45 50 #define SEND_TRIMPOT 0xB0
chris 0:e6020bd04b45 51 #define SEND_BATTERY_MILLIVOLTS 0xB1
chris 0:e6020bd04b45 52 #define DO_PLAY 0xB3
chris 0:e6020bd04b45 53 #define PI_CALIBRATE 0xB4
chris 0:e6020bd04b45 54 #define DO_CLEAR 0xB7
chris 0:e6020bd04b45 55 #define DO_PRINT 0xB8
chris 0:e6020bd04b45 56 #define DO_LCD_GOTO_XY 0xB9
chris 0:e6020bd04b45 57 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
chris 0:e6020bd04b45 58 #define SEND_LINE_POSITION 0xB6
chris 0:e6020bd04b45 59 #define AUTO_CALIBRATE 0xBA
chris 0:e6020bd04b45 60 #define SET_PID 0xBB
chris 0:e6020bd04b45 61 #define STOP_PID 0xBC
chris 0:e6020bd04b45 62 #define M1_FORWARD 0xC1
chris 0:e6020bd04b45 63 #define M1_BACKWARD 0xC2
chris 0:e6020bd04b45 64 #define M2_FORWARD 0xC5
chris 0:e6020bd04b45 65 #define M2_BACKWARD 0xC6
chris 0:e6020bd04b45 66
chris 0:e6020bd04b45 67
chris 0:e6020bd04b45 68
bouaziz 10:7935bbc4ebf1 69 /** zumo control class
chris 0:e6020bd04b45 70 *
chris 0:e6020bd04b45 71 * Example:
chris 0:e6020bd04b45 72 * @code
bouaziz 10:7935bbc4ebf1 73 * // Drive the zumo forward, turn left, back, turn right, at half speed for half a second
chris 0:e6020bd04b45 74
chris 0:e6020bd04b45 75 #include "mbed.h"
bouaziz 10:7935bbc4ebf1 76 #include "zumo.h"
chris 0:e6020bd04b45 77
bouaziz 10:7935bbc4ebf1 78 zumo pi;
chris 0:e6020bd04b45 79
chris 0:e6020bd04b45 80 int main() {
chris 0:e6020bd04b45 81
chris 0:e6020bd04b45 82 wait(0.5);
chris 0:e6020bd04b45 83
chris 0:e6020bd04b45 84 pi.forward(0.5);
chris 0:e6020bd04b45 85 wait (0.5);
chris 0:e6020bd04b45 86 pi.left(0.5);
chris 0:e6020bd04b45 87 wait (0.5);
chris 0:e6020bd04b45 88 pi.backward(0.5);
chris 0:e6020bd04b45 89 wait (0.5);
chris 0:e6020bd04b45 90 pi.right(0.5);
chris 0:e6020bd04b45 91 wait (0.5);
chris 0:e6020bd04b45 92
chris 0:e6020bd04b45 93 pi.stop();
chris 0:e6020bd04b45 94
chris 0:e6020bd04b45 95 }
chris 0:e6020bd04b45 96 * @endcode
chris 0:e6020bd04b45 97 */
bouaziz 10:7935bbc4ebf1 98 class zumo {
chris 0:e6020bd04b45 99
chris 0:e6020bd04b45 100 // Public functions
chris 0:e6020bd04b45 101 public:
chris 0:e6020bd04b45 102
bouaziz 10:7935bbc4ebf1 103 /** Create the zumo object connected to the default pins
chris 0:e6020bd04b45 104 *
bouaziz 10:7935bbc4ebf1 105 * @param nrst GPIO pin used for reset. for futre use
chris 0:e6020bd04b45 106 * @param tx Serial transmit pin. Default is p9
chris 0:e6020bd04b45 107 * @param rx Serial receive pin. Default is p10
chris 0:e6020bd04b45 108 */
bouaziz 10:7935bbc4ebf1 109 zumo();
bouaziz 10:7935bbc4ebf1 110 //reset();
chris 7:9b128cebb3c2 111
bouaziz 10:7935bbc4ebf1 112 /** Create the zumo object connected to specific pins
chris 7:9b128cebb3c2 113 *
chris 7:9b128cebb3c2 114 */
bouaziz 10:7935bbc4ebf1 115 zumo(PinName nrst, PinName tx, PinName rx);
chris 7:9b128cebb3c2 116
chris 0:e6020bd04b45 117 /** Force a hardware reset of the 3pi
chris 0:e6020bd04b45 118 */
chris 0:e6020bd04b45 119 void reset (void);
chris 0:e6020bd04b45 120
chris 0:e6020bd04b45 121 /** Stop both motors
chris 0:e6020bd04b45 122 *
chris 0:e6020bd04b45 123 */
chris 0:e6020bd04b45 124 void stop (void);
chris 0:e6020bd04b45 125
chris 0:e6020bd04b45 126
chris 0:e6020bd04b45 127 /** Read the battery voltage on the 3pi
chris 0:e6020bd04b45 128 * @returns battery voltage as a float
chris 0:e6020bd04b45 129 */
chris 0:e6020bd04b45 130 float battery(void);
chris 0:e6020bd04b45 131
chris 0:e6020bd04b45 132 /** Read the position of the detected line
chris 0:e6020bd04b45 133 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
chris 7:9b128cebb3c2 134 * -1.0 means line is on the left, or the line has been lost
chris 7:9b128cebb3c2 135 * 0.0 means the line is in the middle
chris 7:9b128cebb3c2 136 * 1.0 means the line is on the right
chris 0:e6020bd04b45 137 */
chris 0:e6020bd04b45 138 float line_position (void);
bouaziz 9:f65c5aa1775c 139 /** lecture capteurs calibres
bouaziz 9:f65c5aa1775c 140 * @returns tableau val capteurs de gauche à droite
bouaziz 9:f65c5aa1775c 141 * 0 blanc (reflexion max)
bouaziz 9:f65c5aa1775c 142 * 1000 noir (pas de reflexion)
bouaziz 9:f65c5aa1775c 143 */
bouaziz 9:f65c5aa1775c 144 void calibrated_sensors(unsigned short ltab[5]);
bouaziz 10:7935bbc4ebf1 145
bouaziz 10:7935bbc4ebf1 146 /** fonction speed
bouaziz 10:7935bbc4ebf1 147 * @returns pour le future retourne 0x0A pour indiquer bonne prise en compte.
bouaziz 10:7935bbc4ebf1 148 * Pour le moment retourne rien.
bouaziz 10:7935bbc4ebf1 149 *
bouaziz 10:7935bbc4ebf1 150 */
bouaziz 10:7935bbc4ebf1 151 char speed(short spg,short spd);
bouaziz 12:d9c9ef63c5ff 152
bouaziz 12:d9c9ef63c5ff 153 // speed vitesse absolue
bouaziz 12:d9c9ef63c5ff 154 // rot exprim au 1/100eme de deg 45.01 sera 4501
bouaziz 12:d9c9ef63c5ff 155 char rotate_speed_gyro_wait (short spd,short rot);
bouaziz 12:d9c9ef63c5ff 156
bouaziz 12:d9c9ef63c5ff 157 // avance tout droit de dist mm
bouaziz 12:d9c9ef63c5ff 158 // avec speed positif (car calcul sens par dist)
bouaziz 12:d9c9ef63c5ff 159 // angle envoyé au centime de deg rot et sens trigo
bouaziz 12:d9c9ef63c5ff 160 char avance_wait(short spd, short dist);
bouaziz 12:d9c9ef63c5ff 161
bouaziz 12:d9c9ef63c5ff 162 /** Calibrate the sensors.
chris 0:e6020bd04b45 163 */
bouaziz 12:d9c9ef63c5ff 164 char Calibrate_line_sensor_wait ();
bouaziz 12:d9c9ef63c5ff 165
bouaziz 12:d9c9ef63c5ff 166 char read_data_wait (char whatdata,char*tab);
bouaziz 12:d9c9ef63c5ff 167
chris 0:e6020bd04b45 168
chris 1:816a80dcc1a3 169 void PID_start(int max_speed, int a, int b, int c, int d);
chris 1:816a80dcc1a3 170
chris 1:816a80dcc1a3 171 void PID_stop();
chris 1:816a80dcc1a3 172
chris 5:09fb0636207b 173 /** Write to the 8 LEDs
chris 5:09fb0636207b 174 *
chris 5:09fb0636207b 175 * @param leds An 8 bit value to put on the LEDs
chris 5:09fb0636207b 176 */
chris 5:09fb0636207b 177 void leds(int val);
chris 5:09fb0636207b 178
bouaziz 10:7935bbc4ebf1 179 Serial _ser;
chris 0:e6020bd04b45 180 private :
chris 0:e6020bd04b45 181
chris 0:e6020bd04b45 182 DigitalOut _nrst;
chris 4:54c673c71fc0 183
chris 0:e6020bd04b45 184
chris 0:e6020bd04b45 185 };
chris 0:e6020bd04b45 186
chris 0:e6020bd04b45 187 #endif