librairie pour robot Zumo
Diff: zumo.h
- Revision:
- 10:7935bbc4ebf1
- Parent:
- 9:f65c5aa1775c
- Child:
- 11:1082c5b3b418
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/zumo.h Wed Dec 08 16:33:24 2021 +0000 @@ -0,0 +1,159 @@ +/* mbed zumo Library + * Copyright (c) 2007-2010 cstyles + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#ifndef zumo_H +#define zumo_H + +#include "mbed.h" +#include "platform.h" + + +#define SEND_SIGNATURE 0x81 +#define SEND_RAW_SENSOR_VALUES 0x86 +#define SEND_CALIB_SENSOR_VALUES 0x87 +#define SEND_TRIMPOT 0xB0 +#define SEND_BATTERY_MILLIVOLTS 0xB1 +#define DO_PLAY 0xB3 +#define PI_CALIBRATE 0xB4 +#define DO_CLEAR 0xB7 +#define DO_PRINT 0xB8 +#define DO_LCD_GOTO_XY 0xB9 +#define LINE_SENSORS_RESET_CALIBRATION 0xB5 +#define SEND_LINE_POSITION 0xB6 +#define AUTO_CALIBRATE 0xBA +#define SET_PID 0xBB +#define STOP_PID 0xBC +#define M1_FORWARD 0xC1 +#define M1_BACKWARD 0xC2 +#define M2_FORWARD 0xC5 +#define M2_BACKWARD 0xC6 + + + +/** zumo control class + * + * Example: + * @code + * // Drive the zumo forward, turn left, back, turn right, at half speed for half a second + + #include "mbed.h" + #include "zumo.h" + + zumo pi; + + int main() { + + wait(0.5); + + pi.forward(0.5); + wait (0.5); + pi.left(0.5); + wait (0.5); + pi.backward(0.5); + wait (0.5); + pi.right(0.5); + wait (0.5); + + pi.stop(); + + } + * @endcode + */ +class zumo { + + // Public functions +public: + + /** Create the zumo object connected to the default pins + * + * @param nrst GPIO pin used for reset. for futre use + * @param tx Serial transmit pin. Default is p9 + * @param rx Serial receive pin. Default is p10 + */ + zumo(); + //reset(); + + /** Create the zumo object connected to specific pins + * + */ + zumo(PinName nrst, PinName tx, PinName rx); + + /** Force a hardware reset of the 3pi + */ + void reset (void); + + /** Stop both motors + * + */ + void stop (void); + + + /** Read the battery voltage on the 3pi + * @returns battery voltage as a float + */ + float battery(void); + + /** Read the position of the detected line + * @returns position as A normalised number -1.0 - 1.0 represents the full range. + * -1.0 means line is on the left, or the line has been lost + * 0.0 means the line is in the middle + * 1.0 means the line is on the right + */ + float line_position (void); + /** lecture capteurs calibres + * @returns tableau val capteurs de gauche à droite + * 0 blanc (reflexion max) + * 1000 noir (pas de reflexion) + */ + void calibrated_sensors(unsigned short ltab[5]); + + /** fonction speed + * @returns pour le future retourne 0x0A pour indiquer bonne prise en compte. + * Pour le moment retourne rien. + * + */ + char speed(short spg,short spd); + + /** Calibrate the sensors. This turns the robot left then right, looking for a line + * + */ + char sensor_auto_calibrate (void); + + void PID_start(int max_speed, int a, int b, int c, int d); + + void PID_stop(); + + /** Write to the 8 LEDs + * + * @param leds An 8 bit value to put on the LEDs + */ + void leds(int val); + + Serial _ser; +private : + + DigitalOut _nrst; + + +}; + +#endif \ No newline at end of file