zumo.h

00001 /* mbed zumo Library
00002  * Copyright (c) 2007-2010 cstyles
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #ifndef zumo_H
00024 #define zumo_H
00025 
00026 #include "mbed.h"
00027 #include "platform.h"
00028 
00029 // commandes pour le ZUMO
00030 #define SEND_MOTOR_SPEED 0xA4
00031 #define SEND_MOTOR_STOP 0xA0
00032 #define SEND_ROTATE_GYRO 0x94
00033 #define SEND_AVANCE 0x84
00034 #define SEND_CALIBRE_LIGNE 0x60
00035 #define READ_SENSOR 0x71
00036 
00037 
00038 
00039 // sous commande de la commande READ_SENSOR
00040 #define DATA_SENSOR_GYRO    0x12
00041 #define DATA_SENSOR_MEANDIST  0x24
00042 #define DATA_SENSOR_LRDIST   0x38
00043 #define DATA_SENSOR_LIGNE 0x42
00044 #define DATA_SENSOR_LIGNE_5BIT 0x51
00045 #define DATA_SENSOR_OBSTACLE 0x62
00046 
00047 
00048 
00049 #define SEND_CALIB_SENSOR_VALUES 0x87
00050 #define SEND_TRIMPOT 0xB0
00051 #define SEND_BATTERY_MILLIVOLTS 0xB1
00052 #define DO_PLAY 0xB3
00053 #define PI_CALIBRATE 0xB4
00054 #define DO_CLEAR 0xB7
00055 #define DO_PRINT 0xB8
00056 #define DO_LCD_GOTO_XY 0xB9
00057 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
00058 #define SEND_LINE_POSITION 0xB6
00059 #define AUTO_CALIBRATE 0xBA
00060 #define SET_PID 0xBB
00061 #define STOP_PID 0xBC
00062 #define M1_FORWARD 0xC1
00063 #define M1_BACKWARD 0xC2
00064 #define M2_FORWARD 0xC5
00065 #define M2_BACKWARD 0xC6
00066 
00067 
00068 
00069 /** zumo control class
00070  *
00071  * Example:
00072  * @code
00073  * // Drive the zumo forward, turn left, back, turn right, at half speed for half a second
00074 
00075    #include "mbed.h"
00076    #include "zumo.h"
00077 
00078    zumo pi;
00079 
00080    int main() {
00081 
00082      wait(0.5);
00083 
00084      pi.forward(0.5);
00085      wait (0.5);
00086      pi.left(0.5);
00087      wait (0.5);
00088      pi.backward(0.5);
00089      wait (0.5);
00090      pi.right(0.5);
00091      wait (0.5);
00092 
00093      pi.stop();
00094 
00095  }
00096  * @endcode
00097  */
00098 class zumo  {
00099 
00100     // Public functions
00101 public:
00102 
00103     /** Create the zumo object connected to the default pins
00104      *
00105      * @param nrst GPIO pin used for reset. for futre use
00106      * @param tx Serial transmit pin. Default is p9
00107      * @param rx Serial receive pin. Default is p10
00108      */
00109      zumo();
00110     //reset();
00111 
00112     /** Create the zumo object connected to specific pins
00113      *
00114      */
00115     zumo(PinName nrst, PinName tx, PinName rx);
00116 
00117     /** Force a hardware reset of the 3pi
00118      */
00119     void reset (void);
00120 
00121     /** Stop both motors
00122      *
00123      */
00124     void stop (void);
00125 
00126 
00127     /** Read the battery voltage on the 3pi
00128      * @returns battery voltage as a float
00129      */
00130     float battery(void);
00131 
00132     /** Read the position of the detected line
00133      * @returns position as A normalised number -1.0 - 1.0 represents the full range.
00134      *  -1.0 means line is on the left, or the line has been lost
00135      *   0.0 means the line is in the middle
00136      *   1.0 means the line is on the right
00137      */
00138     float line_position (void);
00139     /** lecture capteurs calibres
00140     * @returns tableau val capteurs de gauche à droite 
00141     *  0 blanc (reflexion max)
00142     *  1000 noir (pas de reflexion)
00143     */
00144     void calibrated_sensors(unsigned short ltab[5]);
00145     
00146     /** fonction speed
00147     * @returns    pour le future retourne 0x0A pour indiquer bonne prise en compte.
00148     *  Pour le moment retourne rien.
00149     *  
00150     */
00151     char speed(short spg,short spd);
00152     
00153     //  speed vitesse absolue
00154     // rot exprim au 1/100eme de deg  45.01 sera 4501
00155     char rotate_speed_gyro_wait (short spd,short rot);
00156  
00157  // avance tout droit de dist mm
00158  // avec speed positif (car calcul sens par dist)
00159  // angle envoyé au centime de deg  rot  et sens trigo
00160     char avance_wait(short spd, short dist); 
00161     
00162     /** Calibrate the sensors.
00163      */
00164     char Calibrate_line_sensor_wait ();
00165     
00166     char read_data_wait (char whatdata,char*tab);
00167     
00168 
00169     void PID_start(int max_speed, int a, int b, int c, int d);
00170 
00171     void PID_stop();
00172 
00173     /** Write to the 8 LEDs
00174      *
00175      * @param leds An 8 bit value to put on the LEDs
00176      */
00177     void leds(int val);
00178 
00179     Serial _ser;
00180 private :
00181 
00182     DigitalOut _nrst;
00183     
00184 
00185 };
00186 
00187 #endif