Dave Cohen / m3pi

Added a custom wait function to enable interrupts

Fork of m3pi by Chris Styles

m3pi.h@9:35c3c0fa2416, 2014-04-08 (annotated)

Committer:
dmcohen24
Date:
Tue Apr 08 16:43:07 2014 +0000
Revision:
9:35c3c0fa2416
Parent:
8:4b7d6ea9b35b 
Added class functions for interruptible wait function;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:e6020bd04b45 1 /* mbed m3pi Library
chris 0:e6020bd04b45 2 * Copyright (c) 2007-2010 cstyles
chris 0:e6020bd04b45 3 *
chris 0:e6020bd04b45 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
chris 0:e6020bd04b45 5 * of this software and associated documentation files (the "Software"), to deal
chris 0:e6020bd04b45 6 * in the Software without restriction, including without limitation the rights
chris 0:e6020bd04b45 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chris 0:e6020bd04b45 8 * copies of the Software, and to permit persons to whom the Software is
chris 0:e6020bd04b45 9 * furnished to do so, subject to the following conditions:
chris 0:e6020bd04b45 10 *
chris 0:e6020bd04b45 11 * The above copyright notice and this permission notice shall be included in
chris 0:e6020bd04b45 12 * all copies or substantial portions of the Software.
chris 0:e6020bd04b45 13 *
chris 0:e6020bd04b45 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chris 0:e6020bd04b45 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chris 0:e6020bd04b45 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chris 0:e6020bd04b45 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chris 0:e6020bd04b45 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chris 0:e6020bd04b45 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chris 0:e6020bd04b45 20 * THE SOFTWARE.
chris 0:e6020bd04b45 21 */
chris 0:e6020bd04b45 22
chris 0:e6020bd04b45 23 #ifndef M3PI_H
chris 0:e6020bd04b45 24 #define M3PI_H
chris 0:e6020bd04b45 25
chris 0:e6020bd04b45 26 #include "mbed.h"
chris 0:e6020bd04b45 27 #include "platform.h"
chris 0:e6020bd04b45 28
chris 0:e6020bd04b45 29 #ifdef MBED_RPC
chris 0:e6020bd04b45 30 #include "rpc.h"
chris 0:e6020bd04b45 31 #endif
chris 0:e6020bd04b45 32
chris 0:e6020bd04b45 33 #define SEND_SIGNATURE 0x81
chris 0:e6020bd04b45 34 #define SEND_RAW_SENSOR_VALUES 0x86
chris 0:e6020bd04b45 35 #define SEND_TRIMPOT 0xB0
chris 0:e6020bd04b45 36 #define SEND_BATTERY_MILLIVOLTS 0xB1
chris 0:e6020bd04b45 37 #define DO_PLAY 0xB3
chris 0:e6020bd04b45 38 #define PI_CALIBRATE 0xB4
chris 0:e6020bd04b45 39 #define DO_CLEAR 0xB7
chris 0:e6020bd04b45 40 #define DO_PRINT 0xB8
chris 0:e6020bd04b45 41 #define DO_LCD_GOTO_XY 0xB9
chris 0:e6020bd04b45 42 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
chris 0:e6020bd04b45 43 #define SEND_LINE_POSITION 0xB6
chris 0:e6020bd04b45 44 #define AUTO_CALIBRATE 0xBA
chris 0:e6020bd04b45 45 #define SET_PID 0xBB
chris 0:e6020bd04b45 46 #define STOP_PID 0xBC
chris 0:e6020bd04b45 47 #define M1_FORWARD 0xC1
chris 0:e6020bd04b45 48 #define M1_BACKWARD 0xC2
chris 0:e6020bd04b45 49 #define M2_FORWARD 0xC5
chris 0:e6020bd04b45 50 #define M2_BACKWARD 0xC6
chris 0:e6020bd04b45 51
chris 0:e6020bd04b45 52
chris 0:e6020bd04b45 53
chris 0:e6020bd04b45 54 /** m3pi control class
chris 0:e6020bd04b45 55 *
chris 0:e6020bd04b45 56 * Example:
chris 0:e6020bd04b45 57 * @code
chris 0:e6020bd04b45 58 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
chris 0:e6020bd04b45 59
chris 0:e6020bd04b45 60 #include "mbed.h"
chris 0:e6020bd04b45 61 #include "m3pi.h"
chris 0:e6020bd04b45 62
chris 7:9b128cebb3c2 63 m3pi pi;
chris 0:e6020bd04b45 64
chris 0:e6020bd04b45 65 int main() {
chris 0:e6020bd04b45 66
chris 0:e6020bd04b45 67 wait(0.5);
chris 0:e6020bd04b45 68
chris 0:e6020bd04b45 69 pi.forward(0.5);
chris 0:e6020bd04b45 70 wait (0.5);
chris 0:e6020bd04b45 71 pi.left(0.5);
chris 0:e6020bd04b45 72 wait (0.5);
chris 0:e6020bd04b45 73 pi.backward(0.5);
chris 0:e6020bd04b45 74 wait (0.5);
chris 0:e6020bd04b45 75 pi.right(0.5);
chris 0:e6020bd04b45 76 wait (0.5);
chris 0:e6020bd04b45 77
chris 0:e6020bd04b45 78 pi.stop();
chris 0:e6020bd04b45 79
chris 0:e6020bd04b45 80 }
chris 0:e6020bd04b45 81 * @endcode
chris 0:e6020bd04b45 82 */
chris 0:e6020bd04b45 83 class m3pi : public Stream {
chris 0:e6020bd04b45 84
chris 0:e6020bd04b45 85 // Public functions
chris 0:e6020bd04b45 86 public:
chris 0:e6020bd04b45 87
dmcohen24 9:35c3c0fa2416 88 int tail_flag;
dmcohen24 9:35c3c0fa2416 89
chris 0:e6020bd04b45 90 /** Create the m3pi object connected to the default pins
chris 0:e6020bd04b45 91 *
chris 7:9b128cebb3c2 92 * @param nrst GPIO pin used for reset. Default is p23
chris 0:e6020bd04b45 93 * @param tx Serial transmit pin. Default is p9
chris 0:e6020bd04b45 94 * @param rx Serial receive pin. Default is p10
chris 0:e6020bd04b45 95 */
chris 7:9b128cebb3c2 96 m3pi();
chris 7:9b128cebb3c2 97
chris 7:9b128cebb3c2 98
chris 8:4b7d6ea9b35b 99 /** Create the m3pi object connected to specific pins
chris 7:9b128cebb3c2 100 *
chris 7:9b128cebb3c2 101 */
chris 0:e6020bd04b45 102 m3pi(PinName nrst, PinName tx, PinName rx);
chris 0:e6020bd04b45 103
chris 0:e6020bd04b45 104
chris 7:9b128cebb3c2 105
chris 0:e6020bd04b45 106 /** Force a hardware reset of the 3pi
chris 0:e6020bd04b45 107 */
chris 0:e6020bd04b45 108 void reset (void);
chris 0:e6020bd04b45 109
chris 0:e6020bd04b45 110 /** Directly control the speed and direction of the left motor
chris 0:e6020bd04b45 111 *
chris 0:e6020bd04b45 112 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chris 0:e6020bd04b45 113 */
chris 0:e6020bd04b45 114 void left_motor (float speed);
chris 0:e6020bd04b45 115
chris 0:e6020bd04b45 116 /** Directly control the speed and direction of the right motor
chris 0:e6020bd04b45 117 *
chris 0:e6020bd04b45 118 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chris 0:e6020bd04b45 119 */
chris 0:e6020bd04b45 120 void right_motor (float speed);
chris 0:e6020bd04b45 121
chris 0:e6020bd04b45 122 /** Drive both motors forward as the same speed
chris 0:e6020bd04b45 123 *
chris 0:e6020bd04b45 124 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 125 */
chris 0:e6020bd04b45 126 void forward (float speed);
chris 0:e6020bd04b45 127
chris 0:e6020bd04b45 128 /** Drive both motors backward as the same speed
chris 0:e6020bd04b45 129 *
chris 0:e6020bd04b45 130 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 131 */
chris 0:e6020bd04b45 132 void backward (float speed);
chris 0:e6020bd04b45 133
chris 0:e6020bd04b45 134 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
chris 0:e6020bd04b45 135 *
chris 0:e6020bd04b45 136 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 137 */
chris 0:e6020bd04b45 138 void left (float speed);
chris 0:e6020bd04b45 139
chris 0:e6020bd04b45 140 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
chris 0:e6020bd04b45 141 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 142 */
chris 0:e6020bd04b45 143 void right (float speed);
chris 0:e6020bd04b45 144
chris 0:e6020bd04b45 145 /** Stop both motors
chris 0:e6020bd04b45 146 *
chris 0:e6020bd04b45 147 */
chris 0:e6020bd04b45 148 void stop (void);
chris 0:e6020bd04b45 149
chris 0:e6020bd04b45 150 /** Read the voltage of the potentiometer on the 3pi
chris 0:e6020bd04b45 151 * @returns voltage as a float
chris 0:e6020bd04b45 152 *
chris 0:e6020bd04b45 153 */
chris 0:e6020bd04b45 154 float pot_voltage(void);
chris 0:e6020bd04b45 155
chris 0:e6020bd04b45 156 /** Read the battery voltage on the 3pi
chris 0:e6020bd04b45 157 * @returns battery voltage as a float
chris 0:e6020bd04b45 158 */
chris 0:e6020bd04b45 159 float battery(void);
chris 0:e6020bd04b45 160
chris 0:e6020bd04b45 161 /** Read the position of the detected line
chris 0:e6020bd04b45 162 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
chris 7:9b128cebb3c2 163 * -1.0 means line is on the left, or the line has been lost
chris 7:9b128cebb3c2 164 * 0.0 means the line is in the middle
chris 7:9b128cebb3c2 165 * 1.0 means the line is on the right
chris 0:e6020bd04b45 166 */
chris 0:e6020bd04b45 167 float line_position (void);
chris 0:e6020bd04b45 168
chris 0:e6020bd04b45 169
chris 7:9b128cebb3c2 170 /** Calibrate the sensors. This turns the robot left then right, looking for a line
chris 0:e6020bd04b45 171 *
chris 0:e6020bd04b45 172 */
chris 0:e6020bd04b45 173 char sensor_auto_calibrate (void);
chris 0:e6020bd04b45 174
chris 0:e6020bd04b45 175 /** Set calibration manually to the current settings.
chris 0:e6020bd04b45 176 *
chris 0:e6020bd04b45 177 */
chris 0:e6020bd04b45 178 void calibrate(void);
chris 0:e6020bd04b45 179
chris 0:e6020bd04b45 180 /** Clear the current calibration settings
chris 0:e6020bd04b45 181 *
chris 0:e6020bd04b45 182 */
chris 0:e6020bd04b45 183 void reset_calibration (void);
chris 0:e6020bd04b45 184
chris 1:816a80dcc1a3 185 void PID_start(int max_speed, int a, int b, int c, int d);
chris 1:816a80dcc1a3 186
chris 1:816a80dcc1a3 187 void PID_stop();
chris 1:816a80dcc1a3 188
chris 5:09fb0636207b 189 /** Write to the 8 LEDs
chris 5:09fb0636207b 190 *
chris 5:09fb0636207b 191 * @param leds An 8 bit value to put on the LEDs
chris 5:09fb0636207b 192 */
chris 5:09fb0636207b 193 void leds(int val);
chris 5:09fb0636207b 194
chris 0:e6020bd04b45 195 /** Locate the cursor on the 8x2 LCD
chris 0:e6020bd04b45 196 *
chris 0:e6020bd04b45 197 * @param x The horizontal position, from 0 to 7
chris 0:e6020bd04b45 198 * @param y The vertical position, from 0 to 1
chris 0:e6020bd04b45 199 */
chris 0:e6020bd04b45 200 void locate(int x, int y);
chris 0:e6020bd04b45 201
chris 0:e6020bd04b45 202 /** Clear the LCD
chris 0:e6020bd04b45 203 *
chris 0:e6020bd04b45 204 */
chris 0:e6020bd04b45 205 void cls(void);
chris 0:e6020bd04b45 206
chris 0:e6020bd04b45 207 /** Send a character directly to the 3pi serial interface
chris 0:e6020bd04b45 208 * @param c The character to send to the 3pi
chris 0:e6020bd04b45 209 */
chris 0:e6020bd04b45 210 int putc(int c);
chris 0:e6020bd04b45 211
chris 0:e6020bd04b45 212 /** Receive a character directly to the 3pi serial interface
chris 0:e6020bd04b45 213 * @returns c The character received from the 3pi
chris 0:e6020bd04b45 214 */
chris 0:e6020bd04b45 215 int getc();
chris 0:e6020bd04b45 216
chris 0:e6020bd04b45 217 /** Send a string buffer to the 3pi serial interface
chris 0:e6020bd04b45 218 * @param text A pointer to a char array
chris 0:e6020bd04b45 219 * @param int The character to send to the 3pi
chris 0:e6020bd04b45 220 */
chris 0:e6020bd04b45 221 int print(char* text, int length);
dmcohen24 9:35c3c0fa2416 222
dmcohen24 9:35c3c0fa2416 223 void wait_10ms (int time);
chris 0:e6020bd04b45 224
chris 0:e6020bd04b45 225 #ifdef MBED_RPC
chris 0:e6020bd04b45 226 virtual const struct rpc_method *get_rpc_methods();
chris 0:e6020bd04b45 227 #endif
chris 0:e6020bd04b45 228
chris 0:e6020bd04b45 229 private :
chris 0:e6020bd04b45 230
chris 0:e6020bd04b45 231 DigitalOut _nrst;
chris 0:e6020bd04b45 232 Serial _ser;
chris 4:54c673c71fc0 233
chris 0:e6020bd04b45 234 void motor (int motor, float speed);
chris 0:e6020bd04b45 235 virtual int _putc(int c);
chris 0:e6020bd04b45 236 virtual int _getc();
chris 0:e6020bd04b45 237
chris 0:e6020bd04b45 238 };
chris 0:e6020bd04b45 239
chris 0:e6020bd04b45 240 #endif