Zumo com Mbed-Arduino + Bluetooth
Dependencies: mbed
zumo.h
- Committer:
- equalizer
- Date:
- 2019-03-08
- Revision:
- 3:112561b84d80
File content as of revision 3:112561b84d80:
#ifndef ZUMO_H #define ZUMO_H #include "mbed.h" #include "platform.h" #ifdef MBED_RPC #include "rpc.h" #endif #define SEND_SIGNATURE 0x81 #define SEND_RAW_SENSOR_VALUES 0x86 #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 class zumo : public Stream { // Public functions public: /** Create the zumo object connected to the default pins * * @param tx Serial transmit pin. Default is p13 * @param rx Serial receive pin. Default is p14 */ zumo(); /** Create the zumo object connected to specific pins * */ zumo(PinName tx, PinName rx); /** Directly control the speed and direction of the left motor * * @param speed A normalised number -1.0 - 1.0 represents the full range. */ void left_motor (float speed); /** Directly control the speed and direction of the right motor * * @param speed A normalised number -1.0 - 1.0 represents the full range. */ void right_motor (float speed); /** Drive both motors forward as the same speed * * @param speed A normalised number 0 - 1.0 represents the full range. */ void forward (float speed); /** Drive both motors backward as the same speed * * @param speed A normalised number 0 - 1.0 represents the full range. */ void backward (float speed); /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot * * @param speed A normalised number 0 - 1.0 represents the full range. */ void left (float speed); /** Drive left motor forward and right motor backwards at the same speed to turn on the spot * @param speed A normalised number 0 - 1.0 represents the full range. */ void right (float speed); /** Stop both motors * */ void stop (void); /** Read the voltage of the potentiometer on the 3pi * @returns voltage as a float * */ float pot_voltage(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]); /** Calibrate the sensors. This turns the robot left then right, looking for a line * */ void sensor_auto_calibrate (void); /** Set calibration manually to the current settings. * */ void calibrate(void); /** Clear the current calibration settings * */ void reset_calibration (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); /** Locate the cursor on the 8x2 LCD * * @param x The horizontal position, from 0 to 7 * @param y The vertical position, from 0 to 1 */ void locate(int x, int y); /** Clear the LCD * */ void cls(void); /** Send a character directly to the 3pi serial interface * @param c The character to send to the 3pi */ int putc(int c); /** Receive a character directly to the 3pi serial interface * @returns c The character received from the 3pi */ int getc(); /** Send a string buffer to the 3pi serial interface * @param text A pointer to a char array * @param int The character to send to the 3pi */ int print(char* text, int length); //test récupération valeur void sensor_get(void); //test récupération position void get_position(char trame_position[]); #ifdef MBED_RPC virtual const struct rpc_method *get_rpc_methods(); #endif private : Serial _ser; void motor (int motor, float speed); virtual int _putc(int c); virtual int _getc(); }; #endif