librairie pour robot Zumo
zumo.h
- Committer:
- bouaziz
- Date:
- 2021-12-08
- Revision:
- 10:7935bbc4ebf1
- Parent:
- m3pi.h@ 9:f65c5aa1775c
- Child:
- 11:1082c5b3b418
File content as of revision 10:7935bbc4ebf1:
/* 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