Samir Bouaziz / m3pi_pops

corrected error assignation of motors in methods right and left. now it work fun. Added function to read calibrated sensors data.

Fork of m3pi by Chris Styles

m3pi.cpp@1:816a80dcc1a3, 2010-10-29 (annotated)

Committer:
chris
Date:
Fri Oct 29 13:30:11 2010 +0000
Revision:
1:816a80dcc1a3
Parent:
0:e6020bd04b45
Child:
2:330eb028e85b
1.1 - Added some additional features, including PID demo

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 0:e6020bd04b45 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 0:e6020bd04b45 32 void m3pi::reset () {
chris 0:e6020bd04b45 33 _nrst = 0;
chris 0:e6020bd04b45 34 wait (0.01);
chris 0:e6020bd04b45 35 _nrst = 1;
chris 0:e6020bd04b45 36 }
chris 0:e6020bd04b45 37
chris 0:e6020bd04b45 38 void m3pi::left_motor (float speed) {
chris 0:e6020bd04b45 39 motor(0,speed);
chris 0:e6020bd04b45 40 }
chris 0:e6020bd04b45 41
chris 0:e6020bd04b45 42 void m3pi::right_motor (float speed) {
chris 0:e6020bd04b45 43 motor(1,speed);
chris 0:e6020bd04b45 44 }
chris 0:e6020bd04b45 45
chris 0:e6020bd04b45 46 void m3pi::forward (float speed) {
chris 0:e6020bd04b45 47 motor(0,speed);
chris 0:e6020bd04b45 48 motor(1,speed);
chris 0:e6020bd04b45 49 }
chris 0:e6020bd04b45 50
chris 0:e6020bd04b45 51 void m3pi::backward (float speed) {
chris 0:e6020bd04b45 52 motor(0,-1.0*speed);
chris 0:e6020bd04b45 53 motor(1,-1.0*speed);
chris 0:e6020bd04b45 54 }
chris 0:e6020bd04b45 55
chris 0:e6020bd04b45 56 void m3pi::left (float speed) {
chris 0:e6020bd04b45 57 motor(0,speed);
chris 0:e6020bd04b45 58 motor(1,-1.0*speed);
chris 0:e6020bd04b45 59 }
chris 0:e6020bd04b45 60
chris 0:e6020bd04b45 61 void m3pi::right (float speed) {
chris 0:e6020bd04b45 62 motor(0,-1.0*speed);
chris 0:e6020bd04b45 63 motor(1,speed);
chris 0:e6020bd04b45 64 }
chris 0:e6020bd04b45 65
chris 0:e6020bd04b45 66 void m3pi::stop (void) {
chris 0:e6020bd04b45 67 motor(0,0.0);
chris 0:e6020bd04b45 68 motor(1,0.0);
chris 0:e6020bd04b45 69 }
chris 0:e6020bd04b45 70
chris 0:e6020bd04b45 71 void m3pi::motor (int motor, float speed) {
chris 0:e6020bd04b45 72 char opcode = 0x0;
chris 0:e6020bd04b45 73 if (speed > 0.0) {
chris 0:e6020bd04b45 74 if (motor==1)
chris 0:e6020bd04b45 75 opcode = M1_FORWARD;
chris 0:e6020bd04b45 76 else
chris 0:e6020bd04b45 77 opcode = M2_FORWARD;
chris 0:e6020bd04b45 78 } else {
chris 0:e6020bd04b45 79 if (motor==1)
chris 0:e6020bd04b45 80 opcode = M1_BACKWARD;
chris 0:e6020bd04b45 81 else
chris 0:e6020bd04b45 82 opcode = M2_BACKWARD;
chris 0:e6020bd04b45 83 }
chris 0:e6020bd04b45 84 unsigned char arg = 0x7f * abs(speed);
chris 0:e6020bd04b45 85
chris 0:e6020bd04b45 86 _ser.putc(opcode);
chris 0:e6020bd04b45 87 _ser.putc(arg);
chris 0:e6020bd04b45 88 }
chris 0:e6020bd04b45 89
chris 0:e6020bd04b45 90 float m3pi::battery() {
chris 0:e6020bd04b45 91 _ser.putc(SEND_BATTERY_MILLIVOLTS);
chris 0:e6020bd04b45 92 char lowbyte = _ser.getc();
chris 0:e6020bd04b45 93 char hibyte = _ser.getc();
chris 0:e6020bd04b45 94 float v = ((lowbyte + (hibyte << 8))/1000.0);
chris 0:e6020bd04b45 95 return(v);
chris 0:e6020bd04b45 96 }
chris 0:e6020bd04b45 97
chris 0:e6020bd04b45 98 float m3pi::line_position() {
chris 0:e6020bd04b45 99 int pos = 0;
chris 0:e6020bd04b45 100 _ser.putc(SEND_LINE_POSITION);
chris 0:e6020bd04b45 101 pos = _ser.getc();
chris 0:e6020bd04b45 102 pos += _ser.getc() << 8;
chris 0:e6020bd04b45 103
chris 0:e6020bd04b45 104 float fpos = (pos - 2048)/2048;
chris 0:e6020bd04b45 105 return(fpos);
chris 0:e6020bd04b45 106 }
chris 0:e6020bd04b45 107
chris 0:e6020bd04b45 108 char m3pi::sensor_auto_calibrate() {
chris 0:e6020bd04b45 109 _ser.putc(AUTO_CALIBRATE);
chris 0:e6020bd04b45 110 return(_ser.getc());
chris 0:e6020bd04b45 111 }
chris 0:e6020bd04b45 112
chris 0:e6020bd04b45 113
chris 0:e6020bd04b45 114 void m3pi::calibrate(void) {
chris 0:e6020bd04b45 115 _ser.putc(PI_CALIBRATE);
chris 0:e6020bd04b45 116 }
chris 0:e6020bd04b45 117
chris 0:e6020bd04b45 118 void m3pi::reset_calibration() {
chris 0:e6020bd04b45 119 _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
chris 0:e6020bd04b45 120 }
chris 0:e6020bd04b45 121
chris 0:e6020bd04b45 122 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
chris 0:e6020bd04b45 123 _ser.putc(max_speed);
chris 0:e6020bd04b45 124 _ser.putc(a);
chris 0:e6020bd04b45 125 _ser.putc(b);
chris 0:e6020bd04b45 126 _ser.putc(c);
chris 0:e6020bd04b45 127 _ser.putc(d);
chris 0:e6020bd04b45 128 }
chris 0:e6020bd04b45 129
chris 0:e6020bd04b45 130 void m3pi::PID_stop() {
chris 0:e6020bd04b45 131 _ser.putc(STOP_PID);
chris 0:e6020bd04b45 132 }
chris 0:e6020bd04b45 133
chris 0:e6020bd04b45 134 float m3pi::pot_voltage(void) {
chris 0:e6020bd04b45 135 int volt = 0;
chris 0:e6020bd04b45 136 _ser.putc(SEND_TRIMPOT);
chris 0:e6020bd04b45 137 volt = _ser.getc();
chris 0:e6020bd04b45 138 volt += _ser.getc() << 8;
chris 0:e6020bd04b45 139 return(volt);
chris 0:e6020bd04b45 140 }
chris 0:e6020bd04b45 141
chris 0:e6020bd04b45 142 void m3pi::locate(int x, int y) {
chris 0:e6020bd04b45 143 _ser.putc(DO_LCD_GOTO_XY);
chris 0:e6020bd04b45 144 _ser.putc(x);
chris 0:e6020bd04b45 145 _ser.putc(y);
chris 0:e6020bd04b45 146 }
chris 0:e6020bd04b45 147
chris 0:e6020bd04b45 148 void m3pi::cls(void) {
chris 0:e6020bd04b45 149 _ser.putc(DO_CLEAR);
chris 0:e6020bd04b45 150 }
chris 0:e6020bd04b45 151
chris 0:e6020bd04b45 152 int m3pi::print (char* text, int length) {
chris 0:e6020bd04b45 153 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 154 _ser.putc(length);
chris 0:e6020bd04b45 155 for (int i = 0 ; i < length ; i++) {
chris 0:e6020bd04b45 156 _ser.putc(text[i]);
chris 0:e6020bd04b45 157 }
chris 0:e6020bd04b45 158 return(0);
chris 0:e6020bd04b45 159 }
chris 0:e6020bd04b45 160
chris 0:e6020bd04b45 161 int m3pi::_putc (int c) {
chris 0:e6020bd04b45 162 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 163 _ser.putc(0x1);
chris 0:e6020bd04b45 164 _ser.putc(c);
chris 0:e6020bd04b45 165 wait (0.001);
chris 0:e6020bd04b45 166 return(c);
chris 0:e6020bd04b45 167 }
chris 0:e6020bd04b45 168
chris 0:e6020bd04b45 169 int m3pi::_getc (void) {
chris 0:e6020bd04b45 170 char r = 0;
chris 0:e6020bd04b45 171 return(r);
chris 0:e6020bd04b45 172 }
chris 0:e6020bd04b45 173
chris 0:e6020bd04b45 174 int m3pi::putc (int c) {
chris 0:e6020bd04b45 175 return(_ser.putc(c));
chris 0:e6020bd04b45 176 }
chris 0:e6020bd04b45 177
chris 0:e6020bd04b45 178 int m3pi::getc (void) {
chris 0:e6020bd04b45 179 return(_ser.getc());
chris 0:e6020bd04b45 180 }
chris 0:e6020bd04b45 181
chris 0:e6020bd04b45 182
chris 0:e6020bd04b45 183
chris 0:e6020bd04b45 184
chris 0:e6020bd04b45 185
chris 0:e6020bd04b45 186 #ifdef MBED_RPC
chris 0:e6020bd04b45 187 const rpc_method *m3pi::get_rpc_methods() {
chris 0:e6020bd04b45 188 static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
chris 1:816a80dcc1a3 189 { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
chris 0:e6020bd04b45 190 { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
chris 0:e6020bd04b45 191 { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
chris 0:e6020bd04b45 192 { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
chris 0:e6020bd04b45 193 { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
chris 0:e6020bd04b45 194 { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
chris 0:e6020bd04b45 195 { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
chris 0:e6020bd04b45 196 { "sensors", rpc_method_caller<float, m3pi, &m3pi::line_position> },
chris 0:e6020bd04b45 197
chris 0:e6020bd04b45 198
chris 0:e6020bd04b45 199 RPC_METHOD_SUPER(Base)
chris 0:e6020bd04b45 200 };
chris 0:e6020bd04b45 201 return rpc_methods;
chris 0:e6020bd04b45 202 }
chris 0:e6020bd04b45 203 #endif