Samir Bouaziz / m3pi

function correction on motor control adding get individual sensor function

Dependents:   m3PI_TP_POPS_II2015v0 m3PI_TP_POPS_II2015v0 ourproject m3PI_TP_SETI ... more

Fork of m3pi by Chris Styles

m3pi.cpp@6:62ee1486ecb9, 2010-11-10 (annotated)

Committer:
chris
Date:
Wed Nov 10 09:01:21 2010 +0000
Revision:
6:62ee1486ecb9
Parent:
5:09fb0636207b
Child:
7:9b128cebb3c2
Changed delay after reset to 0.1 to stop the LCD getting corrupted

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:e6020bd04b45 1 /* m3pi Library
chris 0:e6020bd04b45 2 *
chris 0:e6020bd04b45 3 * Copyright (c) 2007-2010 cstyles
chris 0:e6020bd04b45 4 *
chris 0:e6020bd04b45 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
chris 0:e6020bd04b45 6 * of this software and associated documentation files (the "Software"), to deal
chris 0:e6020bd04b45 7 * in the Software without restriction, including without limitation the rights
chris 0:e6020bd04b45 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chris 0:e6020bd04b45 9 * copies of the Software, and to permit persons to whom the Software is
chris 0:e6020bd04b45 10 * furnished to do so, subject to the following conditions:
chris 0:e6020bd04b45 11 *
chris 0:e6020bd04b45 12 * The above copyright notice and this permission notice shall be included in
chris 0:e6020bd04b45 13 * all copies or substantial portions of the Software.
chris 0:e6020bd04b45 14 *
chris 0:e6020bd04b45 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chris 0:e6020bd04b45 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chris 0:e6020bd04b45 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chris 0:e6020bd04b45 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chris 0:e6020bd04b45 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chris 0:e6020bd04b45 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chris 0:e6020bd04b45 21 * THE SOFTWARE.
chris 0:e6020bd04b45 22 */
chris 0:e6020bd04b45 23
chris 0:e6020bd04b45 24 #include "mbed.h"
chris 0:e6020bd04b45 25 #include "m3pi.h"
chris 0:e6020bd04b45 26
chris 4:54c673c71fc0 27 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx), _leds(p20,p19,p18,p17,p16,p15,p14,p13) {
chris 4:54c673c71fc0 28 _leds = 0;
chris 0:e6020bd04b45 29 _ser.baud(115200);
chris 0:e6020bd04b45 30 reset();
chris 0:e6020bd04b45 31 }
chris 0:e6020bd04b45 32
chris 0:e6020bd04b45 33 void m3pi::reset () {
chris 0:e6020bd04b45 34 _nrst = 0;
chris 0:e6020bd04b45 35 wait (0.01);
chris 0:e6020bd04b45 36 _nrst = 1;
chris 6:62ee1486ecb9 37 wait (0.1);
chris 0:e6020bd04b45 38 }
chris 0:e6020bd04b45 39
chris 0:e6020bd04b45 40 void m3pi::left_motor (float speed) {
chris 0:e6020bd04b45 41 motor(0,speed);
chris 0:e6020bd04b45 42 }
chris 0:e6020bd04b45 43
chris 0:e6020bd04b45 44 void m3pi::right_motor (float speed) {
chris 0:e6020bd04b45 45 motor(1,speed);
chris 0:e6020bd04b45 46 }
chris 0:e6020bd04b45 47
chris 0:e6020bd04b45 48 void m3pi::forward (float speed) {
chris 0:e6020bd04b45 49 motor(0,speed);
chris 0:e6020bd04b45 50 motor(1,speed);
chris 0:e6020bd04b45 51 }
chris 0:e6020bd04b45 52
chris 0:e6020bd04b45 53 void m3pi::backward (float speed) {
chris 0:e6020bd04b45 54 motor(0,-1.0*speed);
chris 0:e6020bd04b45 55 motor(1,-1.0*speed);
chris 0:e6020bd04b45 56 }
chris 0:e6020bd04b45 57
chris 0:e6020bd04b45 58 void m3pi::left (float speed) {
chris 0:e6020bd04b45 59 motor(0,speed);
chris 0:e6020bd04b45 60 motor(1,-1.0*speed);
chris 0:e6020bd04b45 61 }
chris 0:e6020bd04b45 62
chris 0:e6020bd04b45 63 void m3pi::right (float speed) {
chris 0:e6020bd04b45 64 motor(0,-1.0*speed);
chris 0:e6020bd04b45 65 motor(1,speed);
chris 0:e6020bd04b45 66 }
chris 0:e6020bd04b45 67
chris 0:e6020bd04b45 68 void m3pi::stop (void) {
chris 0:e6020bd04b45 69 motor(0,0.0);
chris 0:e6020bd04b45 70 motor(1,0.0);
chris 0:e6020bd04b45 71 }
chris 0:e6020bd04b45 72
chris 0:e6020bd04b45 73 void m3pi::motor (int motor, float speed) {
chris 0:e6020bd04b45 74 char opcode = 0x0;
chris 0:e6020bd04b45 75 if (speed > 0.0) {
chris 0:e6020bd04b45 76 if (motor==1)
chris 0:e6020bd04b45 77 opcode = M1_FORWARD;
chris 0:e6020bd04b45 78 else
chris 0:e6020bd04b45 79 opcode = M2_FORWARD;
chris 0:e6020bd04b45 80 } else {
chris 0:e6020bd04b45 81 if (motor==1)
chris 0:e6020bd04b45 82 opcode = M1_BACKWARD;
chris 0:e6020bd04b45 83 else
chris 0:e6020bd04b45 84 opcode = M2_BACKWARD;
chris 0:e6020bd04b45 85 }
chris 0:e6020bd04b45 86 unsigned char arg = 0x7f * abs(speed);
chris 0:e6020bd04b45 87
chris 0:e6020bd04b45 88 _ser.putc(opcode);
chris 0:e6020bd04b45 89 _ser.putc(arg);
chris 0:e6020bd04b45 90 }
chris 0:e6020bd04b45 91
chris 0:e6020bd04b45 92 float m3pi::battery() {
chris 0:e6020bd04b45 93 _ser.putc(SEND_BATTERY_MILLIVOLTS);
chris 0:e6020bd04b45 94 char lowbyte = _ser.getc();
chris 0:e6020bd04b45 95 char hibyte = _ser.getc();
chris 0:e6020bd04b45 96 float v = ((lowbyte + (hibyte << 8))/1000.0);
chris 0:e6020bd04b45 97 return(v);
chris 0:e6020bd04b45 98 }
chris 0:e6020bd04b45 99
chris 0:e6020bd04b45 100 float m3pi::line_position() {
chris 0:e6020bd04b45 101 int pos = 0;
chris 0:e6020bd04b45 102 _ser.putc(SEND_LINE_POSITION);
chris 0:e6020bd04b45 103 pos = _ser.getc();
chris 0:e6020bd04b45 104 pos += _ser.getc() << 8;
chris 0:e6020bd04b45 105
chris 2:330eb028e85b 106 float fpos = ((float)pos - 2048.0)/2048.0;
chris 0:e6020bd04b45 107 return(fpos);
chris 0:e6020bd04b45 108 }
chris 0:e6020bd04b45 109
chris 0:e6020bd04b45 110 char m3pi::sensor_auto_calibrate() {
chris 0:e6020bd04b45 111 _ser.putc(AUTO_CALIBRATE);
chris 0:e6020bd04b45 112 return(_ser.getc());
chris 0:e6020bd04b45 113 }
chris 0:e6020bd04b45 114
chris 0:e6020bd04b45 115
chris 0:e6020bd04b45 116 void m3pi::calibrate(void) {
chris 0:e6020bd04b45 117 _ser.putc(PI_CALIBRATE);
chris 0:e6020bd04b45 118 }
chris 0:e6020bd04b45 119
chris 0:e6020bd04b45 120 void m3pi::reset_calibration() {
chris 0:e6020bd04b45 121 _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
chris 0:e6020bd04b45 122 }
chris 0:e6020bd04b45 123
chris 0:e6020bd04b45 124 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
chris 0:e6020bd04b45 125 _ser.putc(max_speed);
chris 0:e6020bd04b45 126 _ser.putc(a);
chris 0:e6020bd04b45 127 _ser.putc(b);
chris 0:e6020bd04b45 128 _ser.putc(c);
chris 0:e6020bd04b45 129 _ser.putc(d);
chris 0:e6020bd04b45 130 }
chris 0:e6020bd04b45 131
chris 0:e6020bd04b45 132 void m3pi::PID_stop() {
chris 0:e6020bd04b45 133 _ser.putc(STOP_PID);
chris 0:e6020bd04b45 134 }
chris 0:e6020bd04b45 135
chris 0:e6020bd04b45 136 float m3pi::pot_voltage(void) {
chris 0:e6020bd04b45 137 int volt = 0;
chris 0:e6020bd04b45 138 _ser.putc(SEND_TRIMPOT);
chris 0:e6020bd04b45 139 volt = _ser.getc();
chris 0:e6020bd04b45 140 volt += _ser.getc() << 8;
chris 0:e6020bd04b45 141 return(volt);
chris 0:e6020bd04b45 142 }
chris 0:e6020bd04b45 143
chris 5:09fb0636207b 144
chris 5:09fb0636207b 145 void m3pi::leds(int val) {
chris 5:09fb0636207b 146 _leds = val;
chris 5:09fb0636207b 147 }
chris 5:09fb0636207b 148
chris 5:09fb0636207b 149
chris 0:e6020bd04b45 150 void m3pi::locate(int x, int y) {
chris 0:e6020bd04b45 151 _ser.putc(DO_LCD_GOTO_XY);
chris 0:e6020bd04b45 152 _ser.putc(x);
chris 0:e6020bd04b45 153 _ser.putc(y);
chris 0:e6020bd04b45 154 }
chris 0:e6020bd04b45 155
chris 0:e6020bd04b45 156 void m3pi::cls(void) {
chris 0:e6020bd04b45 157 _ser.putc(DO_CLEAR);
chris 0:e6020bd04b45 158 }
chris 0:e6020bd04b45 159
chris 0:e6020bd04b45 160 int m3pi::print (char* text, int length) {
chris 0:e6020bd04b45 161 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 162 _ser.putc(length);
chris 0:e6020bd04b45 163 for (int i = 0 ; i < length ; i++) {
chris 0:e6020bd04b45 164 _ser.putc(text[i]);
chris 0:e6020bd04b45 165 }
chris 0:e6020bd04b45 166 return(0);
chris 0:e6020bd04b45 167 }
chris 0:e6020bd04b45 168
chris 0:e6020bd04b45 169 int m3pi::_putc (int c) {
chris 0:e6020bd04b45 170 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 171 _ser.putc(0x1);
chris 0:e6020bd04b45 172 _ser.putc(c);
chris 0:e6020bd04b45 173 wait (0.001);
chris 0:e6020bd04b45 174 return(c);
chris 0:e6020bd04b45 175 }
chris 0:e6020bd04b45 176
chris 0:e6020bd04b45 177 int m3pi::_getc (void) {
chris 0:e6020bd04b45 178 char r = 0;
chris 0:e6020bd04b45 179 return(r);
chris 0:e6020bd04b45 180 }
chris 0:e6020bd04b45 181
chris 0:e6020bd04b45 182 int m3pi::putc (int c) {
chris 0:e6020bd04b45 183 return(_ser.putc(c));
chris 0:e6020bd04b45 184 }
chris 0:e6020bd04b45 185
chris 0:e6020bd04b45 186 int m3pi::getc (void) {
chris 0:e6020bd04b45 187 return(_ser.getc());
chris 0:e6020bd04b45 188 }
chris 0:e6020bd04b45 189
chris 0:e6020bd04b45 190
chris 0:e6020bd04b45 191
chris 0:e6020bd04b45 192
chris 0:e6020bd04b45 193
chris 0:e6020bd04b45 194 #ifdef MBED_RPC
chris 0:e6020bd04b45 195 const rpc_method *m3pi::get_rpc_methods() {
chris 0:e6020bd04b45 196 static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
chris 1:816a80dcc1a3 197 { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
chris 0:e6020bd04b45 198 { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
chris 0:e6020bd04b45 199 { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
chris 0:e6020bd04b45 200 { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
chris 0:e6020bd04b45 201 { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
chris 0:e6020bd04b45 202 { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
chris 0:e6020bd04b45 203 { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
chris 3:c38d2f980494 204 { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
chris 3:c38d2f980494 205 { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
chris 0:e6020bd04b45 206
chris 0:e6020bd04b45 207
chris 0:e6020bd04b45 208 RPC_METHOD_SUPER(Base)
chris 0:e6020bd04b45 209 };
chris 0:e6020bd04b45 210 return rpc_methods;
chris 0:e6020bd04b45 211 }
chris 0:e6020bd04b45 212 #endif