Diff: m3pi.cpp

Revision:

3:5015bc2d1cf8

Parent:

2:26bf14f4dc84

Child:

4:0abe81f5d9fd

--- a/m3pi.cpp	Fri Apr 07 18:22:35 2017 +0000
+++ b/m3pi.cpp	Thu May 25 10:18:43 2017 +0000
@@ -6,41 +6,25 @@
 m3pi::m3pi()
 {
     _serial = new Serial(p9,p10);
-    _reset = new DigitalOut(p23);
-    _button = new DigitalIn(p21);
-    _leds = new BusOut(p20,p19,p18,p17,p16,p15,p14,p13);
-
+    _reset = new DigitalOut(p8);
     _last_line_position = 0.0;
-
 }
 
 m3pi::~m3pi()
 {
     delete _serial;
     delete _reset;
-    delete _button;
-    delete _leds;
+
 }
 
 /////////////////////////////// public methods /////////////////////////////////
 
-void m3pi::write_leds(int val)
-{
-    // check within limits
-    val = val > 255 ? 255 : val;
-    val = val < 0 ? 0 : val;
-
-    _leds->write(val);
-}
-
 void m3pi::init()
 {
     _serial->baud(115200);
     reset();                        // hard rest of 3pi
     stop();                         // stop motors
     lcd_clear();                    // clear LCD
-    write_leds(0);                  // turn off LEDs
-    _button->mode(PullUp);           // turn pull-up on
 }
 
 /////////////////////////////// serial slave commands ////////////////////////////////
@@ -122,73 +106,12 @@
 
 void m3pi::calibrate()
 {
-    reset_calibration();
-
-    lcd_goto_xy(0,0);
-    lcd_print("Place on",8);
-    lcd_goto_xy(0,1);
-    lcd_print("  line  ",8);
-
-    wait(0.5);
-
-    lcd_clear();
-    lcd_goto_xy(0,0);
-    lcd_print(" Press  ",8);
-    lcd_goto_xy(0,1);
-    lcd_print("to begin",8);
-
-    while( read_button() ) {
-        // loop while waiting for button to be press
-    }
-
-    wait(0.5);
-
-    lcd_clear();
-    lcd_goto_xy(0,0);
-    lcd_print("Reading ",8);
-    lcd_goto_xy(0,1);
-    lcd_print("Sensors ",8);
-
-    spin_right(0.2);
-
-    char led_val = 0;
-    Timer timer;
-    timer.start();
-
-    while (timer.read() < 5.0) {
-
-        write_leds(led_val++);
-
-        if (led_val > 255) {
-            led_val = 0;
-        }
-
-        _serial->putc(0xB4);
-        wait_ms(25);
-    }
-
-    timer.stop();
-
-    write_leds(255);
-    stop();
-
-    lcd_clear();
-    lcd_goto_xy(0,0);
-    lcd_print("  Done  ",8);
-
-    while( read_button() ) {
-        // loop while waiting for button to be press
-    }
-
-    lcd_clear();
-    write_leds(0);
-    wait(0.5);
+    _serial->putc(0xB4);
 }
 
 void m3pi::reset_calibration()
 {
     _serial->putc(0xB5);
-    wait_ms(50);
 }
 
 float m3pi::get_line_position()
@@ -225,26 +148,21 @@
     _serial->putc(0xB9);
     _serial->putc(x);
     _serial->putc(y);
-
 }
 
 void m3pi::auto_calibrate()
 {
-    reset_calibration();            // clear previous calibration
-
     _serial->putc(0xBA);
-    write_leds(0xFF);  // LEDs on
-    while(1) {
+    
+    while(1) {  // wait for serial response
         if (_serial->readable()) {
             break;
         }
     }
-    write_leds(0);    // LEDs off
 }
 
 /////////////////////////////// motor methods ////////////////////////////////
 
-
 void m3pi::left_motor(float speed)
 {
     // check within bounds
@@ -288,7 +206,6 @@
     right_motor(right_speed);
 }
 
-
 void m3pi::stop()
 {
     left_motor(0.0);
@@ -335,12 +252,6 @@
 
 ////////////////////////////////////////////////////////////////////////////////
 
-
-int m3pi::read_button()
-{
-    return _button->read();
-}
-
 void m3pi::display_battery_voltage(int x,int y)
 {
     float voltage = get_battery_voltage();
@@ -381,7 +292,6 @@
 
 unsigned int m3pi::get_sensor_array_value(unsigned int values[])
 {
-
     unsigned int value = 0;
 
     // loop through each bit, starting from PC4
@@ -411,13 +321,11 @@
     float position = (int(value) - 2000)/2000.0;
 
     float is_on_line = false;
-    write_leds(0x0);
 
     // loop through and check if any sensor reading is above the threshold
     for (int i = 0; i<5; i++) {
         if (values[i] > 500) {
             is_on_line = true;
-            write_leds(0xFF);
         }
     }
 
@@ -435,8 +343,8 @@
 void m3pi::reset()
 {
     // pulse the reset line (active-high)
+    _reset->write(1);
+    wait_ms(100);
     _reset->write(0);
     wait_ms(100);
-    _reset->write(1);
-    wait_ms(100);
 }
\ No newline at end of file