Psi Swarm Robot / PsiSwarmV8_CPP

C++ Library for the PsiSwarm Robot - Version 0.8

Dependents:   PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk

Fork of PsiSwarmV7_CPP by Psi Swarm Robot

psiswarm.h@12:878c6e9d9e60, 2016-10-17 (annotated)

Committer:
jah128
Date:
Mon Oct 17 13:09:10 2016 +0000
Revision:
12:878c6e9d9e60
Parent:
11:312663037b8c
Child:
14:d32d948f7a76
Added Psiswarm class; changed Dances to Animations

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 12:878c6e9d9e60 1 /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm C++ Core Header File
jah128 12:878c6e9d9e60 2 *
jah128 6:b340a527add9 3 * Copyright 2016 University of York
jah128 6:b340a527add9 4 *
jah128 12:878c6e9d9e60 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 6:b340a527add9 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 6:b340a527add9 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 12:878c6e9d9e60 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 6:b340a527add9 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 6:b340a527add9 10 *
jah128 0:d6269d17c8cf 11 * File: psiswarm.h
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 14 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 15 *
jah128 11:312663037b8c 16 * PsiSwarm Library Version: 0.8
jah128 0:d6269d17c8cf 17 *
jah128 5:3cdd1a37cdd7 18 * October 2016
jah128 0:d6269d17c8cf 19 *
jah128 0:d6269d17c8cf 20 *
jah128 12:878c6e9d9e60 21 */
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23 #ifndef PSISWARM_H
jah128 0:d6269d17c8cf 24 #define PSISWARM_H
jah128 12:878c6e9d9e60 25
jah128 11:312663037b8c 26 #define SOFTWARE_VERSION_CODE 0.80
jah128 0:d6269d17c8cf 27
jah128 0:d6269d17c8cf 28 #define PIC_ADDRESS 0x30
jah128 12:878c6e9d9e60 29 #define LCD_ADDRESS 0x7C
jah128 0:d6269d17c8cf 30 #define LED_IC_ADDRESS 0x42
jah128 0:d6269d17c8cf 31 #define GPIO_IC_ADDRESS 0x40
jah128 0:d6269d17c8cf 32 #define AUX_IC_ADDRESS 0x4E
jah128 0:d6269d17c8cf 33 #define ADC1_ADDRESS 0x46
jah128 0:d6269d17c8cf 34 #define ADC2_ADDRESS 0x48
jah128 0:d6269d17c8cf 35 #define EEPROM_ADDRESS 0XA0
jah128 0:d6269d17c8cf 36 #define TEMPERATURE_ADDRESS 0X30
jah128 0:d6269d17c8cf 37 #define BASE_COLOUR_ADDRESS 0X52
jah128 0:d6269d17c8cf 38 #define TOP_COLOUR_ADDRESS 0X72
jah128 0:d6269d17c8cf 39 #define ULTRASONIC_ADDRESS 0XE0
jah128 0:d6269d17c8cf 40 #define COMMAND_MESSAGE_BYTE 0X1D
jah128 0:d6269d17c8cf 41 #define ACKNOWLEDGE_MESSAGE_BYTE 0X1E
jah128 0:d6269d17c8cf 42 #define RESPONSE_MESSAGE_BYTE 0X1F
jah128 0:d6269d17c8cf 43 #define PSI_BYTE 0X1D
jah128 0:d6269d17c8cf 44
jah128 0:d6269d17c8cf 45 //Set temperature sensor warnings: 60C critical, 50C high, 0C low
jah128 0:d6269d17c8cf 46 #define TEMPERATURE_CRITICAL_HI 0X03
jah128 0:d6269d17c8cf 47 #define TEMPEARTURE_CRITICAL_LO 0XC0
jah128 0:d6269d17c8cf 48 #define TEMPERATURE_HIGH_HI 0X03
jah128 0:d6269d17c8cf 49 #define TEMPEARTURE_HIGH_LO 0X20
jah128 0:d6269d17c8cf 50 #define TEMPERATURE_LOW_HI 0X00
jah128 0:d6269d17c8cf 51 #define TEMPEARTURE_LOW_LO 0X00
jah128 0:d6269d17c8cf 52
jah128 0:d6269d17c8cf 53 #define DEFAULT_IR_PULSE_DELAY 400
jah128 0:d6269d17c8cf 54 #define DEFAULT_BASE_IR_PULSE_DELAY 50
jah128 0:d6269d17c8cf 55
jah128 0:d6269d17c8cf 56 #include <stdio.h>
jah128 0:d6269d17c8cf 57 #include <stdarg.h>
jah128 0:d6269d17c8cf 58 #include <string>
jah128 0:d6269d17c8cf 59 #include <vector>
jah128 0:d6269d17c8cf 60
jah128 0:d6269d17c8cf 61 #include "settings.h"
jah128 0:d6269d17c8cf 62 #include "serial.h"
jah128 0:d6269d17c8cf 63 #include "mbed.h"
jah128 0:d6269d17c8cf 64 #include "display.h"
jah128 0:d6269d17c8cf 65 #include "led.h"
jah128 11:312663037b8c 66 #include "i2c_setup.h"
jah128 0:d6269d17c8cf 67 #include "motors.h"
jah128 0:d6269d17c8cf 68 #include "sensors.h"
jah128 0:d6269d17c8cf 69 #include "eprom.h"
jah128 0:d6269d17c8cf 70 #include "colour.h"
jah128 11:312663037b8c 71 #include "sound.h"
jah128 0:d6269d17c8cf 72 #include "demo.h"
jah128 12:878c6e9d9e60 73 #include "animations.h"
jah128 0:d6269d17c8cf 74 #include "basic.h"
jah128 0:d6269d17c8cf 75
jah128 0:d6269d17c8cf 76 //NB The user needs to have a main.cpp with a main() function and a handle_switch_event(char) function
jah128 0:d6269d17c8cf 77 #include "main.h"
jah128 0:d6269d17c8cf 78
jah128 12:878c6e9d9e60 79 /** Psiswarm Class
jah128 12:878c6e9d9e60 80 * The main class to define a robot
jah128 12:878c6e9d9e60 81 *
jah128 12:878c6e9d9e60 82 * Example code for main.cpp:
jah128 12:878c6e9d9e60 83 * @code
jah128 12:878c6e9d9e60 84 * #include "psiswarm.h"
jah128 12:878c6e9d9e60 85 * Psiswarm psi;
jah128 12:878c6e9d9e60 86 * char * program_name = "Example";
jah128 12:878c6e9d9e60 87 * char * author_name = "Name";
jah128 12:878c6e9d9e60 88 * char * version_name = "0.8";
jah128 12:878c6e9d9e60 89 * void handle_switch_event(char switch_state){}
jah128 12:878c6e9d9e60 90 * void handle_user_serial_message(char * message, char length, char interface) {}
jah128 12:878c6e9d9e60 91 * int main(){
jah128 12:878c6e9d9e60 92 * psi.init();
jah128 12:878c6e9d9e60 93 * while(1) { //Do something!
jah128 12:878c6e9d9e60 94 * }
jah128 12:878c6e9d9e60 95 * }
jah128 12:878c6e9d9e60 96 * @endcode
jah128 12:878c6e9d9e60 97 */
jah128 12:878c6e9d9e60 98 class Psiswarm
jah128 12:878c6e9d9e60 99 {
jah128 12:878c6e9d9e60 100 public:
jah128 12:878c6e9d9e60 101 /**
jah128 12:878c6e9d9e60 102 * Main initialisation routine for the PsiSwarm robot
jah128 12:878c6e9d9e60 103 *
jah128 12:878c6e9d9e60 104 * Set up the GPIO expansion ICs, launch demo mode if button is held
jah128 12:878c6e9d9e60 105 */
jah128 12:878c6e9d9e60 106 void init(void);
jah128 12:878c6e9d9e60 107
jah128 12:878c6e9d9e60 108 /**
jah128 12:878c6e9d9e60 109 * Get the uptime for the robot
jah128 12:878c6e9d9e60 110 *
jah128 12:878c6e9d9e60 111 * @return The amount of time in seconds that the MBED has been active since last reset
jah128 12:878c6e9d9e60 112 */
jah128 12:878c6e9d9e60 113 float get_uptime(void);
jah128 12:878c6e9d9e60 114
jah128 12:878c6e9d9e60 115 /**
jah128 12:878c6e9d9e60 116 * Pause the user code for a defined amount of time
jah128 12:878c6e9d9e60 117 *
jah128 12:878c6e9d9e60 118 * @param The amount of time in seconds to pause user code
jah128 12:878c6e9d9e60 119 */
jah128 12:878c6e9d9e60 120 void pause_user_code(float period);
jah128 12:878c6e9d9e60 121
jah128 12:878c6e9d9e60 122 /**
jah128 12:878c6e9d9e60 123 * Reset the wheel encoder counters
jah128 12:878c6e9d9e60 124 */
jah128 12:878c6e9d9e60 125 void reset_encoders(void);
jah128 12:878c6e9d9e60 126
jah128 12:878c6e9d9e60 127 /**
jah128 12:878c6e9d9e60 128 * Send a string (in printf format) to the preferred debug stream, specified in settings.h [of overridden programmatically]
jah128 12:878c6e9d9e60 129 *
jah128 12:878c6e9d9e60 130 * @param The string to send to output stream
jah128 12:878c6e9d9e60 131 */
jah128 12:878c6e9d9e60 132 void debug(const char* format, ...) ;
jah128 12:878c6e9d9e60 133 private:
jah128 12:878c6e9d9e60 134 void IF_end_pause_user_code(void);
jah128 12:878c6e9d9e60 135 void IF_handle_events(void);
jah128 12:878c6e9d9e60 136 void IF_update_encoders(void);
jah128 12:878c6e9d9e60 137 void IF_update_user_id(void);
jah128 12:878c6e9d9e60 138 void IF_update_switch(void);
jah128 12:878c6e9d9e60 139 void IF_update_minutes(void);
jah128 12:878c6e9d9e60 140 void IF_get_hardware_description(void);
jah128 12:878c6e9d9e60 141 };
jah128 0:d6269d17c8cf 142
jah128 12:878c6e9d9e60 143 extern Psiswarm psi;
jah128 8:6c92789d5f87 144 extern Serial pc;
jah128 8:6c92789d5f87 145 extern Serial bt;
jah128 8:6c92789d5f87 146 extern Display display;
jah128 8:6c92789d5f87 147 extern Motors motors;
jah128 8:6c92789d5f87 148 extern Eprom eprom;
jah128 9:dde9e21030eb 149 extern Led led;
jah128 10:e58323951c08 150 extern Sensors sensors;
jah128 11:312663037b8c 151 extern SerialControl serial;
jah128 11:312663037b8c 152 extern Sound sound;
jah128 11:312663037b8c 153 extern Setup i2c_setup;
jah128 11:312663037b8c 154 extern Demo demo;
jah128 12:878c6e9d9e60 155 extern Animations animations;
jah128 12:878c6e9d9e60 156 extern Basic basic;
jah128 0:d6269d17c8cf 157 extern char * program_name;
jah128 0:d6269d17c8cf 158 extern char * author_name;
jah128 0:d6269d17c8cf 159 extern char * version_name;
jah128 0:d6269d17c8cf 160
jah128 0:d6269d17c8cf 161 extern I2C primary_i2c;
jah128 0:d6269d17c8cf 162 extern InterruptIn gpio_interrupt;
jah128 0:d6269d17c8cf 163
jah128 0:d6269d17c8cf 164 extern AnalogIn vin_current;
jah128 0:d6269d17c8cf 165 extern AnalogIn vin_battery;
jah128 0:d6269d17c8cf 166 extern AnalogIn vin_dc;
jah128 0:d6269d17c8cf 167
jah128 0:d6269d17c8cf 168 extern DigitalOut mbed_led1;
jah128 0:d6269d17c8cf 169 extern DigitalOut mbed_led2;
jah128 0:d6269d17c8cf 170 extern DigitalOut mbed_led3;
jah128 0:d6269d17c8cf 171 extern DigitalOut mbed_led4;
jah128 0:d6269d17c8cf 172 extern PwmOut center_led_red;
jah128 0:d6269d17c8cf 173 extern PwmOut center_led_green;
jah128 0:d6269d17c8cf 174 extern PwmOut motor_left_f;
jah128 0:d6269d17c8cf 175 extern PwmOut motor_left_r;
jah128 0:d6269d17c8cf 176 extern PwmOut motor_right_f;
jah128 0:d6269d17c8cf 177 extern PwmOut motor_right_r;
jah128 0:d6269d17c8cf 178
jah128 0:d6269d17c8cf 179 extern char time_based_motor_action;
jah128 0:d6269d17c8cf 180
jah128 0:d6269d17c8cf 181 extern int base_colour_sensor_raw_values [];
jah128 0:d6269d17c8cf 182 extern int top_colour_sensor_raw_values [];
jah128 0:d6269d17c8cf 183
jah128 0:d6269d17c8cf 184 extern char waiting_for_ultrasonic;
jah128 0:d6269d17c8cf 185 extern int ultrasonic_distance;
jah128 0:d6269d17c8cf 186 extern char ultrasonic_distance_updated;
jah128 0:d6269d17c8cf 187 extern Timeout ultrasonic_timeout;
jah128 0:d6269d17c8cf 188 extern Ticker ultrasonic_ticker;
jah128 0:d6269d17c8cf 189
jah128 0:d6269d17c8cf 190 extern unsigned short background_ir_values [];
jah128 0:d6269d17c8cf 191 extern unsigned short illuminated_ir_values [];
jah128 0:d6269d17c8cf 192 extern float reflected_ir_distances [];
jah128 0:d6269d17c8cf 193 extern char ir_values_stored;
jah128 0:d6269d17c8cf 194
jah128 0:d6269d17c8cf 195 extern char firmware_bytes[];
jah128 0:d6269d17c8cf 196
jah128 0:d6269d17c8cf 197 extern char testing_voltage_regulators_flag;
jah128 0:d6269d17c8cf 198 extern char power_good_motor_left;
jah128 0:d6269d17c8cf 199 extern char power_good_motor_right;
jah128 0:d6269d17c8cf 200 extern char power_good_infrared;
jah128 0:d6269d17c8cf 201 extern char status_dc_in;
jah128 0:d6269d17c8cf 202 extern char status_charging;
jah128 0:d6269d17c8cf 203
jah128 0:d6269d17c8cf 204 extern unsigned short background_base_ir_values [];
jah128 0:d6269d17c8cf 205 extern unsigned short illuminated_base_ir_values [];
jah128 0:d6269d17c8cf 206 extern char base_ir_values_stored;
jah128 0:d6269d17c8cf 207 extern float line_position;
jah128 0:d6269d17c8cf 208 extern char line_found;
jah128 0:d6269d17c8cf 209
jah128 0:d6269d17c8cf 210 extern float motor_left_speed;
jah128 0:d6269d17c8cf 211 extern float motor_right_speed;
jah128 0:d6269d17c8cf 212 extern char motor_left_brake;
jah128 0:d6269d17c8cf 213 extern char motor_right_brake;
jah128 0:d6269d17c8cf 214
jah128 0:d6269d17c8cf 215 extern float center_led_brightness;
jah128 0:d6269d17c8cf 216 extern float backlight_brightness;
jah128 0:d6269d17c8cf 217
jah128 4:1c621cb8cf0d 218 extern char use_motor_calibration;
jah128 4:1c621cb8cf0d 219 extern char motor_calibration_set;
jah128 4:1c621cb8cf0d 220 extern float left_motor_calibration_value;
jah128 4:1c621cb8cf0d 221 extern float right_motor_calibration_value;
jah128 4:1c621cb8cf0d 222
jah128 0:d6269d17c8cf 223 extern float firmware_version;
jah128 1:060690a934a9 224 extern float pcb_version;
jah128 1:060690a934a9 225 extern float serial_number;
jah128 1:060690a934a9 226
jah128 1:060690a934a9 227 extern char has_compass;
jah128 1:060690a934a9 228 extern char has_side_ir;
jah128 1:060690a934a9 229 extern char has_base_ir;
jah128 1:060690a934a9 230 extern char has_base_colour_sensor;
jah128 1:060690a934a9 231 extern char has_top_colour_sensor;
jah128 1:060690a934a9 232 extern char has_wheel_encoders;
jah128 1:060690a934a9 233 extern char has_audio_pic;
jah128 1:060690a934a9 234 extern char has_ultrasonic_sensor;
jah128 1:060690a934a9 235 extern char has_temperature_sensor;
jah128 1:060690a934a9 236 extern char has_recharging_circuit;
jah128 1:060690a934a9 237 extern char has_433_radio;
jah128 0:d6269d17c8cf 238
jah128 0:d6269d17c8cf 239 extern int ir_pulse_delay;
jah128 0:d6269d17c8cf 240 extern int base_ir_pulse_delay;
jah128 0:d6269d17c8cf 241
jah128 0:d6269d17c8cf 242 extern char robot_id;
jah128 0:d6269d17c8cf 243 extern char previous_robot_id;
jah128 0:d6269d17c8cf 244
jah128 0:d6269d17c8cf 245 extern char wheel_encoder_byte;
jah128 0:d6269d17c8cf 246 extern char previous_wheel_encoder_byte;
jah128 0:d6269d17c8cf 247 extern signed int left_encoder;
jah128 0:d6269d17c8cf 248 extern signed int right_encoder;
jah128 0:d6269d17c8cf 249
jah128 0:d6269d17c8cf 250 extern char switch_byte;
jah128 0:d6269d17c8cf 251 extern char previous_switch_byte;
jah128 0:d6269d17c8cf 252
jah128 0:d6269d17c8cf 253 extern char user_code_running;
jah128 0:d6269d17c8cf 254 extern char user_code_restore_mode;
jah128 0:d6269d17c8cf 255 extern char demo_on;
jah128 0:d6269d17c8cf 256 extern char event;
jah128 0:d6269d17c8cf 257 extern char change_id_event;
jah128 0:d6269d17c8cf 258 extern char encoder_event;
jah128 0:d6269d17c8cf 259 extern char switch_event;
jah128 0:d6269d17c8cf 260 extern char system_warnings;
jah128 0:d6269d17c8cf 261
jah128 0:d6269d17c8cf 262 extern char debug_mode;
jah128 0:d6269d17c8cf 263 extern char debug_output;
jah128 0:d6269d17c8cf 264
jah128 12:878c6e9d9e60 265 extern vector<string> basic_filenames;
jah128 0:d6269d17c8cf 266 extern char psi_basic_file_count;
jah128 0:d6269d17c8cf 267 extern char use_flash_basic;
jah128 0:d6269d17c8cf 268 extern char file_transfer_mode;
jah128 12:878c6e9d9e60 269
jah128 0:d6269d17c8cf 270 #endif