Bert Gereels / m3pi_custom

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.

Fork of m3pi by Chris Styles

Files at this revision

API Documentation at this revision

Revision 9:d2449eb32198, committed 2018-05-09

Comitter:
bertgereels
Date:
Wed May 09 15:35:12 2018 +0000
Parent:
7:9b128cebb3c2
Commit message:
LineFollower + VLC Decoder

Changed in this revision

m3pi.cpp Show annotated file Show diff for this revision Revisions of this file
m3pi.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 9b128cebb3c2 -r d2449eb32198 m3pi.cpp
--- a/m3pi.cpp	Fri Mar 25 15:44:52 2011 +0000
+++ b/m3pi.cpp	Wed May 09 15:35:12 2018 +0000
@@ -112,6 +112,24 @@
     return(fpos);
 }
 
+void m3pi::get_raw_values(unsigned int *values)
+{
+    while (_ser.readable() ) {  // flush buffer
+     _ser.getc();   
+    }
+    
+    char vals[10];                  // array to receive 10 byte return message
+    _ser.putc(0x86);                // send command
+ 
+    for (int i=0; i < 10; i++) {
+        vals[i] =  _ser.getc();   
+    }
+ 
+    for(int i=0; i<5; i++) {            // construct the 2-byte values
+        values[i] = (vals[2*i+1] << 8) | vals[2*i];
+    }
+}
+
 char m3pi::sensor_auto_calibrate() {
     _ser.putc(AUTO_CALIBRATE);
     return(_ser.getc());

diff -r 9b128cebb3c2 -r d2449eb32198 m3pi.h
--- a/m3pi.h	Fri Mar 25 15:44:52 2011 +0000
+++ b/m3pi.h	Wed May 09 15:35:12 2018 +0000
@@ -163,6 +163,11 @@
      *   1.0 means the line is on the right
      */
     float line_position (void);
+    
+    /** Read raw sensor values from IR sensors (0 - 2000)
+    * @param values - array of size 5 to store values
+    */
+    void get_raw_values(unsigned int *values);
 
 
     /** Calibrate the sensors. This turns the robot left then right, looking for a line