Samir Bouaziz / m3pi_pops

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Fork of m3pi by Chris Styles

Files at this revision

API Documentation at this revision

Revision 9:0764f5bf6ab9, committed 2013-11-04

Comitter:
bouaziz
Date:
Mon Nov 04 22:17:27 2013 +0000
Parent:
8:4b7d6ea9b35b
Commit message:
Correction : left and right motor method are correct now !!!; added function to read 5 reflective sensors in array.; S Bouaziz

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 
--- a/m3pi.cpp	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.cpp	Mon Nov 04 22:17:27 2013 +0000
@@ -43,11 +43,11 @@
 }
 
 void m3pi::left_motor (float speed) {
-    motor(0,speed);
+    motor(1,speed);
 }
 
 void m3pi::right_motor (float speed) {
-    motor(1,speed);
+    motor(0,speed);
 }
 
 void m3pi::forward (float speed) {
@@ -112,6 +112,15 @@
     return(fpos);
 }
 
+void m3pi::calibrated_sensors(unsigned short ltab[5]) {
+    unsigned i;
+    _ser.putc(SEND_CALIB_SENSOR_VALUES);
+    for(i=0;i<5;i++){
+        ltab[i] = (unsigned short) _ser.getc();
+        ltab[i] += _ser.getc() << 8;
+    }
+}
+
 char m3pi::sensor_auto_calibrate() {
     _ser.putc(AUTO_CALIBRATE);
     return(_ser.getc());

--- a/m3pi.h	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.h	Mon Nov 04 22:17:27 2013 +0000
@@ -32,6 +32,7 @@
 
 #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
@@ -163,7 +164,12 @@
      *   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
      *