function correction on motor control adding get individual sensor function

Dependents:   m3PI_TP_POPS_II2015v0 m3PI_TP_POPS_II2015v0 m3PI_TP1_SETI2018 ourproject ... more

Fork of m3pi by Chris Styles

Committer:
bouaziz
Date:
Mon Nov 23 23:22:28 2015 +0000
Revision:
9:f65c5aa1775c
Parent:
7:9b128cebb3c2
update ; motor inversion control + get individual sensor function; POPS PAris Sud

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 7:9b128cebb3c2 27 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) {
chris 0:e6020bd04b45 28 _ser.baud(115200);
chris 0:e6020bd04b45 29 reset();
chris 0:e6020bd04b45 30 }
chris 0:e6020bd04b45 31
chris 7:9b128cebb3c2 32 m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) {
chris 7:9b128cebb3c2 33 _ser.baud(115200);
chris 7:9b128cebb3c2 34 reset();
chris 7:9b128cebb3c2 35 }
chris 7:9b128cebb3c2 36
chris 7:9b128cebb3c2 37
chris 0:e6020bd04b45 38 void m3pi::reset () {
chris 0:e6020bd04b45 39 _nrst = 0;
chris 0:e6020bd04b45 40 wait (0.01);
chris 0:e6020bd04b45 41 _nrst = 1;
chris 6:62ee1486ecb9 42 wait (0.1);
chris 0:e6020bd04b45 43 }
chris 0:e6020bd04b45 44
chris 0:e6020bd04b45 45 void m3pi::left_motor (float speed) {
bouaziz 9:f65c5aa1775c 46 motor(1,speed);
chris 0:e6020bd04b45 47 }
chris 0:e6020bd04b45 48
chris 0:e6020bd04b45 49 void m3pi::right_motor (float speed) {
bouaziz 9:f65c5aa1775c 50 motor(0,speed);
chris 0:e6020bd04b45 51 }
chris 0:e6020bd04b45 52
chris 0:e6020bd04b45 53 void m3pi::forward (float speed) {
chris 0:e6020bd04b45 54 motor(0,speed);
chris 0:e6020bd04b45 55 motor(1,speed);
chris 0:e6020bd04b45 56 }
chris 0:e6020bd04b45 57
chris 0:e6020bd04b45 58 void m3pi::backward (float speed) {
chris 0:e6020bd04b45 59 motor(0,-1.0*speed);
chris 0:e6020bd04b45 60 motor(1,-1.0*speed);
chris 0:e6020bd04b45 61 }
chris 0:e6020bd04b45 62
chris 0:e6020bd04b45 63 void m3pi::left (float speed) {
chris 0:e6020bd04b45 64 motor(0,speed);
chris 0:e6020bd04b45 65 motor(1,-1.0*speed);
chris 0:e6020bd04b45 66 }
chris 0:e6020bd04b45 67
chris 0:e6020bd04b45 68 void m3pi::right (float speed) {
chris 0:e6020bd04b45 69 motor(0,-1.0*speed);
chris 0:e6020bd04b45 70 motor(1,speed);
chris 0:e6020bd04b45 71 }
chris 0:e6020bd04b45 72
chris 0:e6020bd04b45 73 void m3pi::stop (void) {
chris 0:e6020bd04b45 74 motor(0,0.0);
chris 0:e6020bd04b45 75 motor(1,0.0);
chris 0:e6020bd04b45 76 }
chris 0:e6020bd04b45 77
chris 0:e6020bd04b45 78 void m3pi::motor (int motor, float speed) {
chris 0:e6020bd04b45 79 char opcode = 0x0;
chris 0:e6020bd04b45 80 if (speed > 0.0) {
chris 0:e6020bd04b45 81 if (motor==1)
chris 0:e6020bd04b45 82 opcode = M1_FORWARD;
chris 0:e6020bd04b45 83 else
chris 0:e6020bd04b45 84 opcode = M2_FORWARD;
chris 0:e6020bd04b45 85 } else {
chris 0:e6020bd04b45 86 if (motor==1)
chris 0:e6020bd04b45 87 opcode = M1_BACKWARD;
chris 0:e6020bd04b45 88 else
chris 0:e6020bd04b45 89 opcode = M2_BACKWARD;
chris 0:e6020bd04b45 90 }
chris 0:e6020bd04b45 91 unsigned char arg = 0x7f * abs(speed);
chris 0:e6020bd04b45 92
chris 0:e6020bd04b45 93 _ser.putc(opcode);
chris 0:e6020bd04b45 94 _ser.putc(arg);
chris 0:e6020bd04b45 95 }
chris 0:e6020bd04b45 96
chris 0:e6020bd04b45 97 float m3pi::battery() {
chris 0:e6020bd04b45 98 _ser.putc(SEND_BATTERY_MILLIVOLTS);
chris 0:e6020bd04b45 99 char lowbyte = _ser.getc();
chris 0:e6020bd04b45 100 char hibyte = _ser.getc();
chris 0:e6020bd04b45 101 float v = ((lowbyte + (hibyte << 8))/1000.0);
chris 0:e6020bd04b45 102 return(v);
chris 0:e6020bd04b45 103 }
chris 0:e6020bd04b45 104
chris 0:e6020bd04b45 105 float m3pi::line_position() {
chris 0:e6020bd04b45 106 int pos = 0;
chris 0:e6020bd04b45 107 _ser.putc(SEND_LINE_POSITION);
chris 0:e6020bd04b45 108 pos = _ser.getc();
chris 0:e6020bd04b45 109 pos += _ser.getc() << 8;
chris 0:e6020bd04b45 110
chris 2:330eb028e85b 111 float fpos = ((float)pos - 2048.0)/2048.0;
chris 0:e6020bd04b45 112 return(fpos);
chris 0:e6020bd04b45 113 }
chris 0:e6020bd04b45 114
bouaziz 9:f65c5aa1775c 115 void m3pi::calibrated_sensors(unsigned short ltab[5]) {
bouaziz 9:f65c5aa1775c 116 unsigned i;
bouaziz 9:f65c5aa1775c 117 _ser.putc(SEND_CALIB_SENSOR_VALUES);
bouaziz 9:f65c5aa1775c 118 for(i=0;i<5;i++){
bouaziz 9:f65c5aa1775c 119 ltab[i] = (unsigned short) _ser.getc();
bouaziz 9:f65c5aa1775c 120 ltab[i] += _ser.getc() << 8;
bouaziz 9:f65c5aa1775c 121 }
bouaziz 9:f65c5aa1775c 122 }
bouaziz 9:f65c5aa1775c 123
chris 0:e6020bd04b45 124 char m3pi::sensor_auto_calibrate() {
chris 0:e6020bd04b45 125 _ser.putc(AUTO_CALIBRATE);
chris 0:e6020bd04b45 126 return(_ser.getc());
chris 0:e6020bd04b45 127 }
chris 0:e6020bd04b45 128
chris 0:e6020bd04b45 129
chris 0:e6020bd04b45 130 void m3pi::calibrate(void) {
chris 0:e6020bd04b45 131 _ser.putc(PI_CALIBRATE);
chris 0:e6020bd04b45 132 }
chris 0:e6020bd04b45 133
chris 0:e6020bd04b45 134 void m3pi::reset_calibration() {
chris 0:e6020bd04b45 135 _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
chris 0:e6020bd04b45 136 }
chris 0:e6020bd04b45 137
chris 0:e6020bd04b45 138 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
chris 0:e6020bd04b45 139 _ser.putc(max_speed);
chris 0:e6020bd04b45 140 _ser.putc(a);
chris 0:e6020bd04b45 141 _ser.putc(b);
chris 0:e6020bd04b45 142 _ser.putc(c);
chris 0:e6020bd04b45 143 _ser.putc(d);
chris 0:e6020bd04b45 144 }
chris 0:e6020bd04b45 145
chris 0:e6020bd04b45 146 void m3pi::PID_stop() {
chris 0:e6020bd04b45 147 _ser.putc(STOP_PID);
chris 0:e6020bd04b45 148 }
chris 0:e6020bd04b45 149
chris 0:e6020bd04b45 150 float m3pi::pot_voltage(void) {
chris 0:e6020bd04b45 151 int volt = 0;
chris 0:e6020bd04b45 152 _ser.putc(SEND_TRIMPOT);
chris 0:e6020bd04b45 153 volt = _ser.getc();
chris 0:e6020bd04b45 154 volt += _ser.getc() << 8;
chris 0:e6020bd04b45 155 return(volt);
chris 0:e6020bd04b45 156 }
chris 0:e6020bd04b45 157
chris 5:09fb0636207b 158
chris 5:09fb0636207b 159 void m3pi::leds(int val) {
chris 7:9b128cebb3c2 160
chris 7:9b128cebb3c2 161 BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
chris 5:09fb0636207b 162 _leds = val;
chris 5:09fb0636207b 163 }
chris 5:09fb0636207b 164
chris 5:09fb0636207b 165
chris 0:e6020bd04b45 166 void m3pi::locate(int x, int y) {
chris 0:e6020bd04b45 167 _ser.putc(DO_LCD_GOTO_XY);
chris 0:e6020bd04b45 168 _ser.putc(x);
chris 0:e6020bd04b45 169 _ser.putc(y);
chris 0:e6020bd04b45 170 }
chris 0:e6020bd04b45 171
chris 0:e6020bd04b45 172 void m3pi::cls(void) {
chris 0:e6020bd04b45 173 _ser.putc(DO_CLEAR);
chris 0:e6020bd04b45 174 }
chris 0:e6020bd04b45 175
chris 0:e6020bd04b45 176 int m3pi::print (char* text, int length) {
chris 0:e6020bd04b45 177 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 178 _ser.putc(length);
chris 0:e6020bd04b45 179 for (int i = 0 ; i < length ; i++) {
chris 0:e6020bd04b45 180 _ser.putc(text[i]);
chris 0:e6020bd04b45 181 }
chris 0:e6020bd04b45 182 return(0);
chris 0:e6020bd04b45 183 }
chris 0:e6020bd04b45 184
chris 0:e6020bd04b45 185 int m3pi::_putc (int c) {
chris 0:e6020bd04b45 186 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 187 _ser.putc(0x1);
chris 0:e6020bd04b45 188 _ser.putc(c);
chris 0:e6020bd04b45 189 wait (0.001);
chris 0:e6020bd04b45 190 return(c);
chris 0:e6020bd04b45 191 }
chris 0:e6020bd04b45 192
chris 0:e6020bd04b45 193 int m3pi::_getc (void) {
chris 0:e6020bd04b45 194 char r = 0;
chris 0:e6020bd04b45 195 return(r);
chris 0:e6020bd04b45 196 }
chris 0:e6020bd04b45 197
chris 0:e6020bd04b45 198 int m3pi::putc (int c) {
chris 0:e6020bd04b45 199 return(_ser.putc(c));
chris 0:e6020bd04b45 200 }
chris 0:e6020bd04b45 201
chris 0:e6020bd04b45 202 int m3pi::getc (void) {
chris 0:e6020bd04b45 203 return(_ser.getc());
chris 0:e6020bd04b45 204 }
chris 0:e6020bd04b45 205
chris 0:e6020bd04b45 206
chris 0:e6020bd04b45 207
chris 0:e6020bd04b45 208
chris 0:e6020bd04b45 209
chris 0:e6020bd04b45 210 #ifdef MBED_RPC
chris 0:e6020bd04b45 211 const rpc_method *m3pi::get_rpc_methods() {
chris 0:e6020bd04b45 212 static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
chris 1:816a80dcc1a3 213 { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
chris 0:e6020bd04b45 214 { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
chris 0:e6020bd04b45 215 { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
chris 0:e6020bd04b45 216 { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
chris 0:e6020bd04b45 217 { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
chris 0:e6020bd04b45 218 { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
chris 0:e6020bd04b45 219 { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
chris 3:c38d2f980494 220 { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
chris 3:c38d2f980494 221 { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
chris 0:e6020bd04b45 222
chris 0:e6020bd04b45 223
chris 0:e6020bd04b45 224 RPC_METHOD_SUPER(Base)
chris 0:e6020bd04b45 225 };
chris 0:e6020bd04b45 226 return rpc_methods;
chris 0:e6020bd04b45 227 }
chris 0:e6020bd04b45 228 #endif