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
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