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@2:c6986ee3c7c5, 2016-03-11 (annotated)

Committer:
jah128
Date:
Fri Mar 11 13:51:24 2016 +0000
Revision:
2:c6986ee3c7c5
Parent:
1:060690a934a9
Child:
4:1c621cb8cf0d
Added Alex' IR functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Core Header File
jah128 0:d6269d17c8cf 2 *
jah128 0:d6269d17c8cf 3 * File: psiswarm.h
jah128 0:d6269d17c8cf 4 *
jah128 0:d6269d17c8cf 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 6 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 7 *
jah128 2:c6986ee3c7c5 8 * PsiSwarm Library Version: 0.41
jah128 0:d6269d17c8cf 9 *
jah128 2:c6986ee3c7c5 10 * March 2016
jah128 0:d6269d17c8cf 11 *
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 */
jah128 0:d6269d17c8cf 14
jah128 0:d6269d17c8cf 15 #ifndef PSISWARM_H
jah128 0:d6269d17c8cf 16 #define PSISWARM_H
jah128 0:d6269d17c8cf 17
jah128 2:c6986ee3c7c5 18 #define SOFTWARE_VERSION_CODE 0.41
jah128 0:d6269d17c8cf 19
jah128 0:d6269d17c8cf 20 #define PIC_ADDRESS 0x30
jah128 0:d6269d17c8cf 21 #define LCD_ADDRESS 0x7C
jah128 0:d6269d17c8cf 22 #define LED_IC_ADDRESS 0x42
jah128 0:d6269d17c8cf 23 #define GPIO_IC_ADDRESS 0x40
jah128 0:d6269d17c8cf 24 #define AUX_IC_ADDRESS 0x4E
jah128 0:d6269d17c8cf 25 #define ADC1_ADDRESS 0x46
jah128 0:d6269d17c8cf 26 #define ADC2_ADDRESS 0x48
jah128 0:d6269d17c8cf 27 #define EEPROM_ADDRESS 0XA0
jah128 0:d6269d17c8cf 28 #define TEMPERATURE_ADDRESS 0X30
jah128 0:d6269d17c8cf 29 #define BASE_COLOUR_ADDRESS 0X52
jah128 0:d6269d17c8cf 30 #define TOP_COLOUR_ADDRESS 0X72
jah128 0:d6269d17c8cf 31 #define ULTRASONIC_ADDRESS 0XE0
jah128 0:d6269d17c8cf 32 #define COMMAND_MESSAGE_BYTE 0X1D
jah128 0:d6269d17c8cf 33 #define ACKNOWLEDGE_MESSAGE_BYTE 0X1E
jah128 0:d6269d17c8cf 34 #define RESPONSE_MESSAGE_BYTE 0X1F
jah128 0:d6269d17c8cf 35 #define PSI_BYTE 0X1D
jah128 0:d6269d17c8cf 36
jah128 0:d6269d17c8cf 37 //Set temperature sensor warnings: 60C critical, 50C high, 0C low
jah128 0:d6269d17c8cf 38 #define TEMPERATURE_CRITICAL_HI 0X03
jah128 0:d6269d17c8cf 39 #define TEMPEARTURE_CRITICAL_LO 0XC0
jah128 0:d6269d17c8cf 40 #define TEMPERATURE_HIGH_HI 0X03
jah128 0:d6269d17c8cf 41 #define TEMPEARTURE_HIGH_LO 0X20
jah128 0:d6269d17c8cf 42 #define TEMPERATURE_LOW_HI 0X00
jah128 0:d6269d17c8cf 43 #define TEMPEARTURE_LOW_LO 0X00
jah128 0:d6269d17c8cf 44
jah128 0:d6269d17c8cf 45 #define DEFAULT_IR_PULSE_DELAY 400
jah128 0:d6269d17c8cf 46 #define DEFAULT_BASE_IR_PULSE_DELAY 50
jah128 0:d6269d17c8cf 47
jah128 0:d6269d17c8cf 48 #include <stdio.h>
jah128 0:d6269d17c8cf 49 #include <stdarg.h>
jah128 0:d6269d17c8cf 50 #include <string>
jah128 0:d6269d17c8cf 51 #include <vector>
jah128 0:d6269d17c8cf 52
jah128 0:d6269d17c8cf 53 #include "settings.h"
jah128 0:d6269d17c8cf 54 #include "serial.h"
jah128 0:d6269d17c8cf 55 #include "mbed.h"
jah128 0:d6269d17c8cf 56 #include "display.h"
jah128 0:d6269d17c8cf 57 #include "led.h"
jah128 0:d6269d17c8cf 58 #include "i2c.h"
jah128 0:d6269d17c8cf 59 #include "motors.h"
jah128 0:d6269d17c8cf 60 #include "sensors.h"
jah128 0:d6269d17c8cf 61 #include "eprom.h"
jah128 0:d6269d17c8cf 62 #include "colour.h"
jah128 0:d6269d17c8cf 63 #include "pic.h"
jah128 0:d6269d17c8cf 64 #include "demo.h"
jah128 0:d6269d17c8cf 65 #include "dances.h"
jah128 0:d6269d17c8cf 66 #include "basic.h"
jah128 0:d6269d17c8cf 67
jah128 0:d6269d17c8cf 68 //NB The user needs to have a main.cpp with a main() function and a handle_switch_event(char) function
jah128 0:d6269d17c8cf 69 #include "main.h"
jah128 0:d6269d17c8cf 70
jah128 0:d6269d17c8cf 71
jah128 0:d6269d17c8cf 72 void init(void);
jah128 0:d6269d17c8cf 73 float get_uptime(void);
jah128 0:d6269d17c8cf 74 void pause_user_code(float period);
jah128 0:d6269d17c8cf 75 void reset_encoders(void);
jah128 0:d6269d17c8cf 76 void debug(const char* format, ...) ;
jah128 0:d6269d17c8cf 77
jah128 0:d6269d17c8cf 78 void IF_end_pause_user_code(void);
jah128 0:d6269d17c8cf 79 void IF_handle_events(void);
jah128 0:d6269d17c8cf 80 void IF_update_encoders(void);
jah128 0:d6269d17c8cf 81 void IF_update_user_id(void);
jah128 0:d6269d17c8cf 82 void IF_update_switch(void);
jah128 0:d6269d17c8cf 83 void IF_update_minutes(void);
jah128 1:060690a934a9 84 void IF_get_hardware_description(void);
jah128 0:d6269d17c8cf 85
jah128 0:d6269d17c8cf 86 extern char * program_name;
jah128 0:d6269d17c8cf 87 extern char * author_name;
jah128 0:d6269d17c8cf 88 extern char * version_name;
jah128 0:d6269d17c8cf 89
jah128 0:d6269d17c8cf 90 extern Serial pc;
jah128 0:d6269d17c8cf 91 extern Serial bt;
jah128 0:d6269d17c8cf 92 extern Display display;
jah128 0:d6269d17c8cf 93 extern I2C primary_i2c;
jah128 0:d6269d17c8cf 94 extern InterruptIn gpio_interrupt;
jah128 0:d6269d17c8cf 95
jah128 0:d6269d17c8cf 96 extern AnalogIn vin_current;
jah128 0:d6269d17c8cf 97 extern AnalogIn vin_battery;
jah128 0:d6269d17c8cf 98 extern AnalogIn vin_dc;
jah128 0:d6269d17c8cf 99
jah128 0:d6269d17c8cf 100 extern DigitalOut mbed_led1;
jah128 0:d6269d17c8cf 101 extern DigitalOut mbed_led2;
jah128 0:d6269d17c8cf 102 extern DigitalOut mbed_led3;
jah128 0:d6269d17c8cf 103 extern DigitalOut mbed_led4;
jah128 0:d6269d17c8cf 104 extern PwmOut center_led_red;
jah128 0:d6269d17c8cf 105 extern PwmOut center_led_green;
jah128 0:d6269d17c8cf 106 extern PwmOut motor_left_f;
jah128 0:d6269d17c8cf 107 extern PwmOut motor_left_r;
jah128 0:d6269d17c8cf 108 extern PwmOut motor_right_f;
jah128 0:d6269d17c8cf 109 extern PwmOut motor_right_r;
jah128 0:d6269d17c8cf 110
jah128 0:d6269d17c8cf 111 extern char time_based_motor_action;
jah128 0:d6269d17c8cf 112
jah128 0:d6269d17c8cf 113 extern int base_colour_sensor_raw_values [];
jah128 0:d6269d17c8cf 114 extern int top_colour_sensor_raw_values [];
jah128 0:d6269d17c8cf 115
jah128 0:d6269d17c8cf 116 extern char waiting_for_ultrasonic;
jah128 0:d6269d17c8cf 117 extern int ultrasonic_distance;
jah128 0:d6269d17c8cf 118 extern char ultrasonic_distance_updated;
jah128 0:d6269d17c8cf 119 extern Timeout ultrasonic_timeout;
jah128 0:d6269d17c8cf 120 extern Ticker ultrasonic_ticker;
jah128 0:d6269d17c8cf 121
jah128 0:d6269d17c8cf 122 extern unsigned short background_ir_values [];
jah128 0:d6269d17c8cf 123 extern unsigned short illuminated_ir_values [];
jah128 0:d6269d17c8cf 124 extern float reflected_ir_distances [];
jah128 0:d6269d17c8cf 125 extern char ir_values_stored;
jah128 0:d6269d17c8cf 126
jah128 0:d6269d17c8cf 127 extern char firmware_bytes[];
jah128 0:d6269d17c8cf 128
jah128 0:d6269d17c8cf 129 extern char testing_voltage_regulators_flag;
jah128 0:d6269d17c8cf 130 extern char power_good_motor_left;
jah128 0:d6269d17c8cf 131 extern char power_good_motor_right;
jah128 0:d6269d17c8cf 132 extern char power_good_infrared;
jah128 0:d6269d17c8cf 133 extern char status_dc_in;
jah128 0:d6269d17c8cf 134 extern char status_charging;
jah128 0:d6269d17c8cf 135
jah128 0:d6269d17c8cf 136 extern unsigned short background_base_ir_values [];
jah128 0:d6269d17c8cf 137 extern unsigned short illuminated_base_ir_values [];
jah128 0:d6269d17c8cf 138 extern char base_ir_values_stored;
jah128 0:d6269d17c8cf 139 extern float line_position;
jah128 0:d6269d17c8cf 140 extern char line_found;
jah128 0:d6269d17c8cf 141
jah128 0:d6269d17c8cf 142 extern float motor_left_speed;
jah128 0:d6269d17c8cf 143 extern float motor_right_speed;
jah128 0:d6269d17c8cf 144 extern char motor_left_brake;
jah128 0:d6269d17c8cf 145 extern char motor_right_brake;
jah128 0:d6269d17c8cf 146
jah128 0:d6269d17c8cf 147 extern float center_led_brightness;
jah128 0:d6269d17c8cf 148 extern float backlight_brightness;
jah128 0:d6269d17c8cf 149
jah128 0:d6269d17c8cf 150 extern float firmware_version;
jah128 1:060690a934a9 151 extern float pcb_version;
jah128 1:060690a934a9 152 extern float serial_number;
jah128 1:060690a934a9 153
jah128 1:060690a934a9 154 extern char has_compass;
jah128 1:060690a934a9 155 extern char has_side_ir;
jah128 1:060690a934a9 156 extern char has_base_ir;
jah128 1:060690a934a9 157 extern char has_base_colour_sensor;
jah128 1:060690a934a9 158 extern char has_top_colour_sensor;
jah128 1:060690a934a9 159 extern char has_wheel_encoders;
jah128 1:060690a934a9 160 extern char has_audio_pic;
jah128 1:060690a934a9 161 extern char has_ultrasonic_sensor;
jah128 1:060690a934a9 162 extern char has_temperature_sensor;
jah128 1:060690a934a9 163 extern char has_recharging_circuit;
jah128 1:060690a934a9 164 extern char has_433_radio;
jah128 0:d6269d17c8cf 165
jah128 0:d6269d17c8cf 166 extern int ir_pulse_delay;
jah128 0:d6269d17c8cf 167 extern int base_ir_pulse_delay;
jah128 0:d6269d17c8cf 168
jah128 0:d6269d17c8cf 169 extern char robot_id;
jah128 0:d6269d17c8cf 170 extern char previous_robot_id;
jah128 0:d6269d17c8cf 171
jah128 0:d6269d17c8cf 172 extern char wheel_encoder_byte;
jah128 0:d6269d17c8cf 173 extern char previous_wheel_encoder_byte;
jah128 0:d6269d17c8cf 174 extern signed int left_encoder;
jah128 0:d6269d17c8cf 175 extern signed int right_encoder;
jah128 0:d6269d17c8cf 176
jah128 0:d6269d17c8cf 177 extern char switch_byte;
jah128 0:d6269d17c8cf 178 extern char previous_switch_byte;
jah128 0:d6269d17c8cf 179
jah128 0:d6269d17c8cf 180 extern char user_code_running;
jah128 0:d6269d17c8cf 181 extern char user_code_restore_mode;
jah128 0:d6269d17c8cf 182 extern char demo_on;
jah128 0:d6269d17c8cf 183 extern char event;
jah128 0:d6269d17c8cf 184 extern char change_id_event;
jah128 0:d6269d17c8cf 185 extern char encoder_event;
jah128 0:d6269d17c8cf 186 extern char switch_event;
jah128 0:d6269d17c8cf 187 extern char system_warnings;
jah128 0:d6269d17c8cf 188
jah128 0:d6269d17c8cf 189 extern char debug_mode;
jah128 0:d6269d17c8cf 190 extern char debug_output;
jah128 0:d6269d17c8cf 191
jah128 0:d6269d17c8cf 192 extern vector<string> basic_filenames;
jah128 0:d6269d17c8cf 193 extern char psi_basic_file_count;
jah128 0:d6269d17c8cf 194 extern char use_flash_basic;
jah128 0:d6269d17c8cf 195 extern char file_transfer_mode;
jah128 0:d6269d17c8cf 196 #endif