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
m3pi.cpp@0:e6020bd04b45, 2010-10-29 (annotated)
- Committer:
- chris
- Date:
- Fri Oct 29 13:25:07 2010 +0000
- Revision:
- 0:e6020bd04b45
- Child:
- 1:816a80dcc1a3
Initial revision
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:e6020bd04b45 | 189 | { "backward", rpc_method_caller<m3pi, float, &m3pi::back> }, |
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 |