Team 5 AUH
/
Team5_AUH_robot
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed
Fork of
Team5_AUH_robot
by 
Kasper Martensen
m3pi/m3pi.cpp@17:d6e8234ffc91, 2020-11-09 (annotated)
- Committer:
- mathiasbergma
- Date:
- Mon Nov 09 15:13:17 2020 +0000
- Revision:
- 17:d6e8234ffc91
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| mathiasbergma | 17:d6e8234ffc91 | 1 | /* m3pi Library |
| mathiasbergma | 17:d6e8234ffc91 | 2 | * |
| mathiasbergma | 17:d6e8234ffc91 | 3 | * Copyright (c) 2007-2010 cstyles |
| mathiasbergma | 17:d6e8234ffc91 | 4 | * |
| mathiasbergma | 17:d6e8234ffc91 | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| mathiasbergma | 17:d6e8234ffc91 | 6 | * of this software and associated documentation files (the "Software"), to deal |
| mathiasbergma | 17:d6e8234ffc91 | 7 | * in the Software without restriction, including without limitation the rights |
| mathiasbergma | 17:d6e8234ffc91 | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| mathiasbergma | 17:d6e8234ffc91 | 9 | * copies of the Software, and to permit persons to whom the Software is |
| mathiasbergma | 17:d6e8234ffc91 | 10 | * furnished to do so, subject to the following conditions: |
| mathiasbergma | 17:d6e8234ffc91 | 11 | * |
| mathiasbergma | 17:d6e8234ffc91 | 12 | * The above copyright notice and this permission notice shall be included in |
| mathiasbergma | 17:d6e8234ffc91 | 13 | * all copies or substantial portions of the Software. |
| mathiasbergma | 17:d6e8234ffc91 | 14 | * |
| mathiasbergma | 17:d6e8234ffc91 | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| mathiasbergma | 17:d6e8234ffc91 | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| mathiasbergma | 17:d6e8234ffc91 | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| mathiasbergma | 17:d6e8234ffc91 | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| mathiasbergma | 17:d6e8234ffc91 | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| mathiasbergma | 17:d6e8234ffc91 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| mathiasbergma | 17:d6e8234ffc91 | 21 | * THE SOFTWARE. |
| mathiasbergma | 17:d6e8234ffc91 | 22 | */ |
| mathiasbergma | 17:d6e8234ffc91 | 23 | //test |
| mathiasbergma | 17:d6e8234ffc91 | 24 | #include "mbed.h" |
| mathiasbergma | 17:d6e8234ffc91 | 25 | #include "m3pi.h" |
| mathiasbergma | 17:d6e8234ffc91 | 26 | |
| mathiasbergma | 17:d6e8234ffc91 | 27 | m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) { |
| mathiasbergma | 17:d6e8234ffc91 | 28 | _ser.baud(115200); |
| mathiasbergma | 17:d6e8234ffc91 | 29 | reset(); |
| mathiasbergma | 17:d6e8234ffc91 | 30 | } |
| mathiasbergma | 17:d6e8234ffc91 | 31 | |
| mathiasbergma | 17:d6e8234ffc91 | 32 | m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) { |
| mathiasbergma | 17:d6e8234ffc91 | 33 | _ser.baud(115200); |
| mathiasbergma | 17:d6e8234ffc91 | 34 | reset(); |
| mathiasbergma | 17:d6e8234ffc91 | 35 | } |
| mathiasbergma | 17:d6e8234ffc91 | 36 | |
| mathiasbergma | 17:d6e8234ffc91 | 37 | |
| mathiasbergma | 17:d6e8234ffc91 | 38 | void m3pi::reset () { |
| mathiasbergma | 17:d6e8234ffc91 | 39 | _nrst = 0; |
| mathiasbergma | 17:d6e8234ffc91 | 40 | wait (0.01); |
| mathiasbergma | 17:d6e8234ffc91 | 41 | _nrst = 1; |
| mathiasbergma | 17:d6e8234ffc91 | 42 | wait (0.1); |
| mathiasbergma | 17:d6e8234ffc91 | 43 | } |
| mathiasbergma | 17:d6e8234ffc91 | 44 | |
| mathiasbergma | 17:d6e8234ffc91 | 45 | void m3pi::left_motor (float speed) { |
| mathiasbergma | 17:d6e8234ffc91 | 46 | motor(0,speed); |
| mathiasbergma | 17:d6e8234ffc91 | 47 | } |
| mathiasbergma | 17:d6e8234ffc91 | 48 | |
| mathiasbergma | 17:d6e8234ffc91 | 49 | void m3pi::right_motor (float speed) { |
| mathiasbergma | 17:d6e8234ffc91 | 50 | motor(1,speed); |
| mathiasbergma | 17:d6e8234ffc91 | 51 | } |
| mathiasbergma | 17:d6e8234ffc91 | 52 | |
| mathiasbergma | 17:d6e8234ffc91 | 53 | void m3pi::forward (float speed) { |
| mathiasbergma | 17:d6e8234ffc91 | 54 | motor(0,speed); |
| mathiasbergma | 17:d6e8234ffc91 | 55 | motor(1,speed); |
| mathiasbergma | 17:d6e8234ffc91 | 56 | } |
| mathiasbergma | 17:d6e8234ffc91 | 57 | |
| mathiasbergma | 17:d6e8234ffc91 | 58 | void m3pi::backward (float speed) { |
| mathiasbergma | 17:d6e8234ffc91 | 59 | motor(0,-1.0*speed); |
| mathiasbergma | 17:d6e8234ffc91 | 60 | motor(1,-1.0*speed); |
| mathiasbergma | 17:d6e8234ffc91 | 61 | } |
| mathiasbergma | 17:d6e8234ffc91 | 62 | |
| mathiasbergma | 17:d6e8234ffc91 | 63 | void m3pi::left (float speed) { |
| mathiasbergma | 17:d6e8234ffc91 | 64 | motor(0,speed); |
| mathiasbergma | 17:d6e8234ffc91 | 65 | motor(1,-1.0*speed); |
| mathiasbergma | 17:d6e8234ffc91 | 66 | } |
| mathiasbergma | 17:d6e8234ffc91 | 67 | |
| mathiasbergma | 17:d6e8234ffc91 | 68 | void m3pi::right (float speed) { |
| mathiasbergma | 17:d6e8234ffc91 | 69 | motor(0,-1.0*speed); |
| mathiasbergma | 17:d6e8234ffc91 | 70 | motor(1,speed); |
| mathiasbergma | 17:d6e8234ffc91 | 71 | } |
| mathiasbergma | 17:d6e8234ffc91 | 72 | |
| mathiasbergma | 17:d6e8234ffc91 | 73 | void m3pi::stop (void) { |
| mathiasbergma | 17:d6e8234ffc91 | 74 | motor(0,0.0); |
| mathiasbergma | 17:d6e8234ffc91 | 75 | motor(1,0.0); |
| mathiasbergma | 17:d6e8234ffc91 | 76 | } |
| mathiasbergma | 17:d6e8234ffc91 | 77 | |
| mathiasbergma | 17:d6e8234ffc91 | 78 | void m3pi::motor (int motor, float speed) { |
| mathiasbergma | 17:d6e8234ffc91 | 79 | char opcode = 0x0; |
| mathiasbergma | 17:d6e8234ffc91 | 80 | if (speed > 0.0) { |
| mathiasbergma | 17:d6e8234ffc91 | 81 | if (motor==1) |
| mathiasbergma | 17:d6e8234ffc91 | 82 | opcode = M1_FORWARD; |
| mathiasbergma | 17:d6e8234ffc91 | 83 | else |
| mathiasbergma | 17:d6e8234ffc91 | 84 | opcode = M2_FORWARD; |
| mathiasbergma | 17:d6e8234ffc91 | 85 | } else { |
| mathiasbergma | 17:d6e8234ffc91 | 86 | if (motor==1) |
| mathiasbergma | 17:d6e8234ffc91 | 87 | opcode = M1_BACKWARD; |
| mathiasbergma | 17:d6e8234ffc91 | 88 | else |
| mathiasbergma | 17:d6e8234ffc91 | 89 | opcode = M2_BACKWARD; |
| mathiasbergma | 17:d6e8234ffc91 | 90 | } |
| mathiasbergma | 17:d6e8234ffc91 | 91 | unsigned char arg = 0x7f * abs(speed); |
| mathiasbergma | 17:d6e8234ffc91 | 92 | |
| mathiasbergma | 17:d6e8234ffc91 | 93 | _ser.putc(opcode); |
| mathiasbergma | 17:d6e8234ffc91 | 94 | _ser.putc(arg); |
| mathiasbergma | 17:d6e8234ffc91 | 95 | } |
| mathiasbergma | 17:d6e8234ffc91 | 96 | |
| mathiasbergma | 17:d6e8234ffc91 | 97 | float m3pi::battery() { |
| mathiasbergma | 17:d6e8234ffc91 | 98 | _ser.putc(SEND_BATTERY_MILLIVOLTS); |
| mathiasbergma | 17:d6e8234ffc91 | 99 | char lowbyte = _ser.getc(); |
| mathiasbergma | 17:d6e8234ffc91 | 100 | char hibyte = _ser.getc(); |
| mathiasbergma | 17:d6e8234ffc91 | 101 | float v = ((lowbyte + (hibyte << 8))/1000.0); |
| mathiasbergma | 17:d6e8234ffc91 | 102 | return(v); |
| mathiasbergma | 17:d6e8234ffc91 | 103 | } |
| mathiasbergma | 17:d6e8234ffc91 | 104 | |
| mathiasbergma | 17:d6e8234ffc91 | 105 | float m3pi::line_position() { |
| mathiasbergma | 17:d6e8234ffc91 | 106 | int pos = 0; |
| mathiasbergma | 17:d6e8234ffc91 | 107 | _ser.putc(SEND_LINE_POSITION); |
| mathiasbergma | 17:d6e8234ffc91 | 108 | pos = _ser.getc(); |
| mathiasbergma | 17:d6e8234ffc91 | 109 | pos += _ser.getc() << 8; |
| mathiasbergma | 17:d6e8234ffc91 | 110 | |
| mathiasbergma | 17:d6e8234ffc91 | 111 | float fpos = ((float)pos - 2048.0)/2048.0; |
| mathiasbergma | 17:d6e8234ffc91 | 112 | return(fpos); |
| mathiasbergma | 17:d6e8234ffc91 | 113 | } |
| mathiasbergma | 17:d6e8234ffc91 | 114 | |
| mathiasbergma | 17:d6e8234ffc91 | 115 | char m3pi::sensor_auto_calibrate() { |
| mathiasbergma | 17:d6e8234ffc91 | 116 | _ser.putc(AUTO_CALIBRATE); |
| mathiasbergma | 17:d6e8234ffc91 | 117 | return(_ser.getc()); |
| mathiasbergma | 17:d6e8234ffc91 | 118 | } |
| mathiasbergma | 17:d6e8234ffc91 | 119 | |
| mathiasbergma | 17:d6e8234ffc91 | 120 | |
| mathiasbergma | 17:d6e8234ffc91 | 121 | void m3pi::calibrate(void) { |
| mathiasbergma | 17:d6e8234ffc91 | 122 | _ser.putc(PI_CALIBRATE); |
| mathiasbergma | 17:d6e8234ffc91 | 123 | } |
| mathiasbergma | 17:d6e8234ffc91 | 124 | |
| mathiasbergma | 17:d6e8234ffc91 | 125 | void m3pi::reset_calibration() { |
| mathiasbergma | 17:d6e8234ffc91 | 126 | _ser.putc(LINE_SENSORS_RESET_CALIBRATION); |
| mathiasbergma | 17:d6e8234ffc91 | 127 | } |
| mathiasbergma | 17:d6e8234ffc91 | 128 | |
| mathiasbergma | 17:d6e8234ffc91 | 129 | void m3pi::PID_start(int max_speed, int a, int b, int c, int d) { |
| mathiasbergma | 17:d6e8234ffc91 | 130 | _ser.putc(max_speed); |
| mathiasbergma | 17:d6e8234ffc91 | 131 | _ser.putc(a); |
| mathiasbergma | 17:d6e8234ffc91 | 132 | _ser.putc(b); |
| mathiasbergma | 17:d6e8234ffc91 | 133 | _ser.putc(c); |
| mathiasbergma | 17:d6e8234ffc91 | 134 | _ser.putc(d); |
| mathiasbergma | 17:d6e8234ffc91 | 135 | } |
| mathiasbergma | 17:d6e8234ffc91 | 136 | |
| mathiasbergma | 17:d6e8234ffc91 | 137 | void m3pi::PID_stop() { |
| mathiasbergma | 17:d6e8234ffc91 | 138 | _ser.putc(STOP_PID); |
| mathiasbergma | 17:d6e8234ffc91 | 139 | } |
| mathiasbergma | 17:d6e8234ffc91 | 140 | |
| mathiasbergma | 17:d6e8234ffc91 | 141 | float m3pi::pot_voltage(void) { |
| mathiasbergma | 17:d6e8234ffc91 | 142 | int volt = 0; |
| mathiasbergma | 17:d6e8234ffc91 | 143 | _ser.putc(SEND_TRIMPOT); |
| mathiasbergma | 17:d6e8234ffc91 | 144 | volt = _ser.getc(); |
| mathiasbergma | 17:d6e8234ffc91 | 145 | volt += _ser.getc() << 8; |
| mathiasbergma | 17:d6e8234ffc91 | 146 | return(volt); |
| mathiasbergma | 17:d6e8234ffc91 | 147 | } |
| mathiasbergma | 17:d6e8234ffc91 | 148 | |
| mathiasbergma | 17:d6e8234ffc91 | 149 | |
| mathiasbergma | 17:d6e8234ffc91 | 150 | void m3pi::leds(int val) { |
| mathiasbergma | 17:d6e8234ffc91 | 151 | |
| mathiasbergma | 17:d6e8234ffc91 | 152 | BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13); |
| mathiasbergma | 17:d6e8234ffc91 | 153 | _leds = val; |
| mathiasbergma | 17:d6e8234ffc91 | 154 | } |
| mathiasbergma | 17:d6e8234ffc91 | 155 | |
| mathiasbergma | 17:d6e8234ffc91 | 156 | |
| mathiasbergma | 17:d6e8234ffc91 | 157 | void m3pi::locate(int x, int y) { |
| mathiasbergma | 17:d6e8234ffc91 | 158 | _ser.putc(DO_LCD_GOTO_XY); |
| mathiasbergma | 17:d6e8234ffc91 | 159 | _ser.putc(x); |
| mathiasbergma | 17:d6e8234ffc91 | 160 | _ser.putc(y); |
| mathiasbergma | 17:d6e8234ffc91 | 161 | } |
| mathiasbergma | 17:d6e8234ffc91 | 162 | |
| mathiasbergma | 17:d6e8234ffc91 | 163 | void m3pi::cls(void) { |
| mathiasbergma | 17:d6e8234ffc91 | 164 | _ser.putc(DO_CLEAR); |
| mathiasbergma | 17:d6e8234ffc91 | 165 | } |
| mathiasbergma | 17:d6e8234ffc91 | 166 | |
| mathiasbergma | 17:d6e8234ffc91 | 167 | int m3pi::print (char* text, int length) { |
| mathiasbergma | 17:d6e8234ffc91 | 168 | _ser.putc(DO_PRINT); |
| mathiasbergma | 17:d6e8234ffc91 | 169 | _ser.putc(length); |
| mathiasbergma | 17:d6e8234ffc91 | 170 | for (int i = 0 ; i < length ; i++) { |
| mathiasbergma | 17:d6e8234ffc91 | 171 | _ser.putc(text[i]); |
| mathiasbergma | 17:d6e8234ffc91 | 172 | } |
| mathiasbergma | 17:d6e8234ffc91 | 173 | return(0); |
| mathiasbergma | 17:d6e8234ffc91 | 174 | } |
| mathiasbergma | 17:d6e8234ffc91 | 175 | |
| mathiasbergma | 17:d6e8234ffc91 | 176 | int m3pi::_putc (int c) { |
| mathiasbergma | 17:d6e8234ffc91 | 177 | _ser.putc(DO_PRINT); |
| mathiasbergma | 17:d6e8234ffc91 | 178 | _ser.putc(0x1); |
| mathiasbergma | 17:d6e8234ffc91 | 179 | _ser.putc(c); |
| mathiasbergma | 17:d6e8234ffc91 | 180 | wait (0.001); |
| mathiasbergma | 17:d6e8234ffc91 | 181 | return(c); |
| mathiasbergma | 17:d6e8234ffc91 | 182 | } |
| mathiasbergma | 17:d6e8234ffc91 | 183 | |
| mathiasbergma | 17:d6e8234ffc91 | 184 | int m3pi::_getc (void) { |
| mathiasbergma | 17:d6e8234ffc91 | 185 | char r = 0; |
| mathiasbergma | 17:d6e8234ffc91 | 186 | return(r); |
| mathiasbergma | 17:d6e8234ffc91 | 187 | } |
| mathiasbergma | 17:d6e8234ffc91 | 188 | |
| mathiasbergma | 17:d6e8234ffc91 | 189 | int m3pi::putc (int c) { |
| mathiasbergma | 17:d6e8234ffc91 | 190 | return(_ser.putc(c)); |
| mathiasbergma | 17:d6e8234ffc91 | 191 | } |
| mathiasbergma | 17:d6e8234ffc91 | 192 | |
| mathiasbergma | 17:d6e8234ffc91 | 193 | int m3pi::getc (void) { |
| mathiasbergma | 17:d6e8234ffc91 | 194 | return(_ser.getc()); |
| mathiasbergma | 17:d6e8234ffc91 | 195 | } |
| mathiasbergma | 17:d6e8234ffc91 | 196 | |
| mathiasbergma | 17:d6e8234ffc91 | 197 | |
| mathiasbergma | 17:d6e8234ffc91 | 198 | |
| mathiasbergma | 17:d6e8234ffc91 | 199 | |
| mathiasbergma | 17:d6e8234ffc91 | 200 | |
| mathiasbergma | 17:d6e8234ffc91 | 201 | #ifdef MBED_RPC |
| mathiasbergma | 17:d6e8234ffc91 | 202 | const rpc_method *m3pi::get_rpc_methods() { |
| mathiasbergma | 17:d6e8234ffc91 | 203 | static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> }, |
| mathiasbergma | 17:d6e8234ffc91 | 204 | { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> }, |
| mathiasbergma | 17:d6e8234ffc91 | 205 | { "left", rpc_method_caller<m3pi, float, &m3pi::left> }, |
| mathiasbergma | 17:d6e8234ffc91 | 206 | { "right", rpc_method_caller<m3pi, float, &m3pi::right> }, |
| mathiasbergma | 17:d6e8234ffc91 | 207 | { "stop", rpc_method_caller<m3pi, &m3pi::stop> }, |
| mathiasbergma | 17:d6e8234ffc91 | 208 | { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> }, |
| mathiasbergma | 17:d6e8234ffc91 | 209 | { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> }, |
| mathiasbergma | 17:d6e8234ffc91 | 210 | { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> }, |
| mathiasbergma | 17:d6e8234ffc91 | 211 | { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> }, |
| mathiasbergma | 17:d6e8234ffc91 | 212 | { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> }, |
| mathiasbergma | 17:d6e8234ffc91 | 213 | |
| mathiasbergma | 17:d6e8234ffc91 | 214 | |
| mathiasbergma | 17:d6e8234ffc91 | 215 | RPC_METHOD_SUPER(Base) |
| mathiasbergma | 17:d6e8234ffc91 | 216 | }; |
| mathiasbergma | 17:d6e8234ffc91 | 217 | return rpc_methods; |
| mathiasbergma | 17:d6e8234ffc91 | 218 | } |
| mathiasbergma | 17:d6e8234ffc91 | 219 | #endif |
