File content as of revision 11:1082c5b3b418:

/* 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_MOTOR_SPEED 0xA4
#define SEND_MOTOR_STOP 0xA0



#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