Nico De Witte / racing_robots

Racing Robots Session

Dependencies:   MbedJSONValue m3pi

This is the library for the Racing Robots session. It supports the M3PI robot of Polulu.

It is based on the "Arduino" principle of the init and loop function.

Just add a main.cpp file which contains:

Racing Robots main file

#include "robot_logic.h"

void init()
{
   //put your initialization logic here
}

void loop()
{
    //put your robot control logic here    
}

Features include:

  1. Controlling the LEDS
  2. Move forward and backward
  3. Turn
  4. Read the sensor values
  5. Use a PID controller

Diff: robot_logic.h

Revision:
6:0dc4e4225881
Parent:
4:3743cbfe031b
Child:
7:a72215b1910b
--- a/robot_logic.h	Tue Feb 24 09:38:40 2015 +0000
+++ b/robot_logic.h	Wed Feb 25 09:10:13 2015 +0000
@@ -22,29 +22,29 @@
 } LedState;
 
 
-/*
+/**
  * Drive the robot forward or backward.
  * If the robot was turning it will stop turning and drive in a straight line.
  *
- * @speed The speed percentage with which to drive forward or backward.
+ * @param speed The speed percentage with which to drive forward or backward.
  * Can range from -100 (full throttle backward) to +100 (full throttle forward).
  */
 void drive(int speed);
 
-/*
+/**
  * Turn the robot left or right while driving.
  *
- * @turnspeed The percentage with which to turn the robot.
- * Can range from -100 (full throttle left) to +100 (full throttle right).
+ * @param turnspeed The percentage with which to turn the robot.
+ *          Can range from -100 (full throttle left) to +100 (full throttle right).
  */
 void turn(int turnspeed);
 
-/*
+/**
  * Stop the robot.
  */
 void stop(void);
 
-/*
+/**
  * Calibrate the line follow sensors.
  * Take note that the pololu should be placed over the line
  * before this function is called and that it will rotate to
@@ -52,7 +52,7 @@
  */
 void sensor_calibrate(void);
 
-/*
+/**
  * Read the value from the line sensor. The returned value indicates the
  * position of the line. The value ranges from -100 to +100 where -100 is
  * fully left, +100 is fully right and 0 means the line is detected in the middle.
@@ -61,37 +61,51 @@
  */
 int line_sensor(void);
 
-/*
+/**
  * Initialize the PID drive control with
- * the P, I and T factors.
+ * the P, I and D factors.
  *
- * @p The P factor
- * @i The I factor
- * @d The D factor
+ * @param p The P factor
+ * @param i The I factor
+ * @param d The D factor
  */
 void pid_init(int p, int i, int d);
 
-/*
+/**
  * Determine PID turnspeed with which the pololu should
  * turn to follow the line at the given position.
  *
- * @line_position The position of the line in a range of [-100, +100]
+ * @param line_position The position of the line in a range of [-100, +100]
  *
- * @returns The turnspeed in a range of [-100, +100]
+ * @return The turnspeed in a range of [-100, +100]
  */
 int pid_turn(int line_position);
 
-// Show drive speed and sensor data
+/**
+  *Show speed, turn and sensor data on the LCD
+  */
 void show_stats();
 
-// Show the name of the robot on the display
+/**
+ * Shows the name of the robot on the display.
+ *
+ * @param name C character string (null-terminated) with the name of the robot (max 8 chars)
+ */
 void show_name(char * name);
 
 
-// Turn a led on or off
+/**
+  * Turn on, off or toggle a specific LED
+  * @param i the LED number LED_0 .. LED_7
+  * @param state the LED state LED_ON, LED_OFF, LED_TOGGLE 
+  */
 void led(LedIndex i, LedState state);
 
-// Wait for a number of milliseconds
+/**
+ * Wait for an approximate number of milliseconds.
+ *
+ * @param milliseconds The number of milliseconds to wait.
+ */
 void await(int milliseconds);
 
 #endif
\ No newline at end of file