V0.5 library for the Pi Swarm robot
piswarm.h
- Committer:
- jah128
- Date:
- 2014-02-02
- Revision:
- 5:09d535cb9e9d
- Parent:
- 4:52b3e4c5a425
- Child:
- 6:69a48b1ec3af
File content as of revision 5:09d535cb9e9d:
/******************************************************************************************* * * University of York Robot Lab Pi Swarm Robot Library * * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York * * Version 0.5 February 2014 * * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2 * ******************************************************************************************/ #ifndef PISWARM_H #define PISWARM_H #include "mbed.h" #include "platform.h" #include "alpha433.h" #include "main.h" #ifdef MBED_RPC #include "rpc.h" #endif // The following defines are user parameters and may be edited // SWARM_SIZE - size of swarm (+1). Max 32. // USE_COMMUNICATION_STACK - 1 to enable, 0 to bypass // CALIBRATE_COLOURS - 1 to increase blue intensity, 0 to not // CENTER_LED_BRIGHTNESS - Range 0 to 100 // OUTER_LED_BRIGHTNESS - Range 0 to 100 // PC_BAUD - PC Serial Baudrate. Max 115200 // RF_ALLOW_COMMANDS - 1 to allow remote RF commands, 0 to block // RF_USE_LEDS - 1 to use MBED LEDs to display RF status // RF_USE_TDMA - 1 to use time-delayed responses to broadcast messages // RF_TDMA_TIME_PERIOD_US 15625 - Period of delay to use (per ID) in us. // PISWARM_DEBUG - 1 to send general Pi Swarm debug information over USB serial interface // RF_DEBUG - 1 to send communication stack debug information over USB serial interface // RF_VERBOSE - 1 to send verbose RF debug information over USB serial interface // START_RADIO_ON_BOOT - 1 to enable RF transceiver and comms stack on boot // RF_FREQUENCY - Frequency of RF chip. See datasheet for details (default 435000000) // RF_DATARATE - Baud rate of the RF chip. Max 115200, default 57600. #define SWARM_SIZE 32 #define USE_COMMUNICATION_STACK 1 #define CALIBRATE_COLOURS 1 #define CENTER_LED_BRIGHTNESS 30 #define OUTER_LED_BRIGHTNESS 50 #define PC_BAUD 115200 #define RF_ALLOW_COMMANDS 1 #define RF_USE_LEDS 1 #define RF_USE_TDMA 1 #define RF_TDMA_TIME_PERIOD_US 15625 #define PISWARM_DEBUG 1 #define RF_DEBUG 1 #define RF_VERBOSE 1 #define START_RADIO_ON_BOOT 1 #define RF_FREQUENCY 435000000 #define RF_DATARATE 57600 // The remaining defines give the addresses of hardware and 3-Pi instructions etc. and should not be changed #define SEND_SIGNATURE 0x81 #define SEND_RAW_SENSOR_VALUES 0x86 #define SEND_TRIMPOT 0xB0 #define SEND_BATTERY_MILLIVOLTS 0xB1 #define DO_PLAY 0xB3 #define PI_CALIBRATE 0xB4 #define DO_CLEAR 0xB7 #define DO_PRINT 0xB8 #define DO_LCD_GOTO_XY 0xB9 #define LINE_SENSORS_RESET_CALIBRATION 0xB5 #define SEND_LINE_POSITION 0xB6 #define AUTO_CALIBRATE 0xBA #define SET_PID 0xBB #define STOP_PID 0xBC #define M1_FORWARD 0xC1 #define M1_BACKWARD 0xC2 #define M2_FORWARD 0xC5 #define M2_BACKWARD 0xC6 #define EXPANSION_IC_ADDRESS 0x40 #define MAGNETOMETER_ADDRESS 0x1C #define ADC_ADDRESS 0x46 #define EEPROM_ADDRESS 0XA0 class PiSwarm : public Stream { // Public functions public: // Create the Pi Swarm object connected to the default pins [see end of file] PiSwarm(); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // LED Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Returns the RGB Colour of the Outer LED as an int (r<<16 g<<8 b) int get_oled_colour(void); // Returns the enable state of an single outer led char get_oled_state(char oled); // Set colour of outer LEDs void set_oled_colour ( char red, char green, char blue ); // Toggle the state of a single outer LED without affected the others void set_oled(char oled, char value); // Toggle the states of all 10 outer LEDs void set_oleds(char oled_0, char oled_1, char oled_2, char oled_3, char oled_4, char oled_5, char oled_6, char oled_7, char oled_8, char oled_9); // Disable all the LEDs and the dedicated power supply void turn_off_all_oleds(void); // Set brightness of outer LEDs (works by increasing total period for PWM) void set_oled_brightness ( char brightness ); // Sends the message to the GPIO expander to update which OLEDs are active void activate_oleds(void); // Returns the RGB Colour of the Center LED as an int (r<<16 g<<8 b) int get_cled_colour(void); // Returns the enable state of the center LED char get_cled_state(void); // Set colour of central LED void set_cled_colour ( char red, char green, char blue ); // Enable or disable the center LED void enable_cled ( char enable ); // Set brightness of central LED (works by increasing total period for PWM) void set_cled_brightness ( char brightness ); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // IR Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Returns an approximate distance of any reflected obstacle in front of the given IR sensor (in millimeters, range 0 - 100) float read_reflected_ir_distance ( char index ); // Returns the illuminated raw ADC value for a given IR sensor (500us pulse) unsigned short read_illuminated_raw_ir_value ( char index ); // Returns the raw ADC value for a given IR sensor unsigned short read_adc_value( char index ); // Turns on or off the LDO outputs based on the current enable variables (enable_ir_ldo and enable_led_ldo) void enable_ldo_outputs ( void ); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Sensor Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Read the gyroscope yaw value. Return value is degrees per second clockwise. float read_gyro ( void ); // Read the X value from the accelerometer. Return value is mps2. float read_accelerometer_x ( void ); // Read the Y value from the accelerometer. Return value is mps2. float read_accelerometer_y ( void ); // Read the Z value from the accelerometer. Return value is mps2. Generally this will have g against it. float read_accelerometer_z ( void ); // Read the I2C magnetometer and store values locally: use before get_magnetometer_x etc... char read_magnetometer ( void ); // Return the magnetometer x value stored on last call of read_magnetometer() signed short get_magnetometer_x ( void ); // Return the magnetometer y value stored on last call of read_magnetometer() signed short get_magnetometer_y ( void ); // Return the magnetometer z value stored on last call of read_magnetometer() signed short get_magnetometer_z ( void ); // Read temperature from the temperature IC; return is temperature in degrees Celsius float read_temperature ( void ); // Read the value from the light sensor. This will return a value ranging from 0 to a peak of around 100 in direct, bright light. float read_light_sensor ( void ); // Read the raw line sensors into a 5-int array (range 0-2000) void read_raw_sensors ( int * raw_ls_array ); // Returns the uptime of the system in seconds float get_uptime (void); // Returns the battery voltage float battery(void); // Read the voltage of the user potentiometer on the 3-pi float pot_voltage(void); // Read the robot ID set using the DIP switches (these are read during setup and not updated). char get_id ( void ); // Read the switches value from the last call of the ISR char get_switches ( void ); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Motor and Actuator Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Returns the last speed value set for the left motor float get_left_motor (void); // Returns the last speed value set for the right motor float get_right_motor (void); // Directly control the speed and direction of the left motor (range -1.0 to 1.0) void left_motor (float speed); // Directly control the speed and direction of the right motor (range -1.0 to 1.0) void right_motor (float speed); // Drive both motors forward as the same speed (range -1.0 to 1.0) void forward (float speed); // Drive both motors backward as the same speed (range -1.0 to 1.0) void backward (float speed); // Drive left motor backwards and right motor forwards at the same speed to turn on the spot (range -1.0 to 1.0) void left (float speed); // Drive left motor forward and right motor backwards at the same speed to turn on the spot (range -1.0 to 1.0) void right (float speed); // Stop both motors void stop (void); // Play a tune on the 3-pi buzzer (see notes at end of file for more details) void play_tune (char * tune, int length); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // EEPROM Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Write single byte to EEPROM void write_eeprom_byte ( int address, char data ); // Write (length) bytes to EEPROM void write_eeprom_block ( int address, char length, char * data); // Read single byte from EEPROM char read_eeprom_byte ( int address ); // Read next byte from EEPROM at current address char read_next_eeprom_byte ( void ); // Read (length) from EEPROM char read_eeprom_block ( int address, char length ); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Display Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Locate the cursor on the 8x2 LCD [to position x (0-7), y (0-1)] void locate(int x, int y); // Clear the LCD void cls(void); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Setup and Internal Functions // Generally these functions should not be called by user code ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Send a message of given length over the RF interface void send_rf_message(char* message, char length); // The default setup routine: called when the Pi Swarm is created void setup ( void ); // Sets up the IO expansion IC using I2C commands; returns a zero if successful int setup_expansion_ic ( void ); // Called after a delay from the IO expansion interrupt; delay helps debounce switches void interrupt_timeout_event ( void ); // The interrupt handler for the IO expansion IC; calls the timeout event to debounce switches void expansion_interrupt_handler ( void ); // Turns off interrupt LED after a delay to indicate switch has been pressed void led_timeout_event ( void ); // Routine to calibrate gyro; by default run in setup, robot should be stationary to avoid errors (Returns 1 if successful, 0 if failed) char calibrate_gyro ( void ); // Routine to calibrate accelerometer, by default run after successful gyro calibration, robot should be flat and stationary to avoid errors (Returns 1 if successful, 0 if failed) char calibrate_accelerometer ( void ); // Routine to calibrate magnetometer (Returns 1 if successful, 0 if failed) char calibrate_magnetometer ( void ); // Send instructions to the I2C ADC (for IR measurement) char setup_adc( void ); // Routine to initialise radio void setup_radio( void ); // Blinks the calibration LED during calibration (turns off if calibration successful) void calibrate_ticker_routine ( void ); // Used to debug/test the OLED array void test_oled(void); // Starts the system timer void start_system_timer(void); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Native m3Pi Functions // These should preserve functionality of (most) m3pi code but may be fully functional on Pi Swarm ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Force a hardware reset of the 3-pi void reset (void); // Read the position of the detected line [using line-following IR] float line_position (void); // Calibrate the sensors. This turns the robot left then right, looking for a line [using line-following IR] char sensor_auto_calibrate (void); // Set calibration manually to the current settings. void calibrate(void); // Clear the current calibration settings void reset_calibration (void); // Start the PID contoller void PID_start(int max_speed, int a, int b, int c, int d); // Stop the PID controller void PID_stop(); // Send a character directly to the 3pi serial interface int putc(int c); // Receive a character directly to the 3pi serial interface int getc(); // Send a string buffer to the 3pi serial interface int print(char* text, int length); #ifdef MBED_RPC virtual const struct rpc_method *get_rpc_methods(); #endif private : Serial _ser; PwmOut _oled_r, _oled_g, _oled_b, _cled_r, _cled_g, _cled_b; AnalogIn _gyro, _accel_x, _accel_y, _accel_z, _temperature, _light; I2C _i2c; DigitalOut _irpulse_1, _irpulse_2; Alpha433 _rf; Timer _system_timer; void motor (int motor, float speed); virtual int _putc(int c); virtual int _getc(); }; void display_system_time(void); void init(void); extern Serial pc; extern PiSwarm piswarm; #endif /******************************************************************************** * MBED Pin connection layout * * * * * Pin 05 : Alpha Transceiver SDI * * * Pin 06 : Alpha Transceiver SDO * * * Pin 07 : Alpha Transceiver CLK * * * Pin 08 : Alpha Transceiver FSS * * * Pin 09 : Serial (3pi) transmit * * * Pin 10 : Serial (3pi) receive * * * Pin 11 : Alpha Transceiver NIRQ * * * Pin 12 : IR Pulse Output for IR1,2,7,8 * * * Pin 13 : IR Pulse Output for IR3,4,5,6 * * * Pin 14 : Echo Pin for Sonar * * * Pin 15 : Light Sensor Analogue Input * * * Pin 16 : Gyrometer Analogue Input * * * Pin 17 : Accelerometer Z Analogue Input * * * Pin 18 : Accelerometer Y Analogue Input * * * Pin 19 : Accelerometer X Analogue Input * * * Pin 20 : Temperature Sensor Analogue Input * * * Pin 21 : Center LED Blue PWM Output * * * Pin 22 : Center LED Green PWM Output * * * Pin 23 : Center LED Red PWM Output * * * Pin 24 : Outer LED Blue PWM Output * * * Pin 25 : Outer LED Green PWM Output * * * Pin 26 : Outer LED Red PWM Output * * * Pin 27 : I2C SCL * * * Pin 28 : I2C SDA * * * Pin 29 : GPIO Expander Interrupt * * * Pin 30 : Trigger Pin for Sonar * * * Pin 31 : USB D+ Connector * * * Pin 32 : USB D- Connector * * * *******************************************************************************/ /******************************************************************************** * Using the 3-Pi Buzzer * * * * play_tune (char * tune, int length) * * * * tune - Pointer to a character sequence of the tune * * length - Length of characters in sequence * * * * The character sequence recognises the following characters: * * * * A – G : used to specify the notes that will be played * * * * R : used to specify a rest (no sound for the duration of the note) * * * * < or > : plays the next note one octave lower or higher * * * * + or # : raises the previous notes pitch by one semitone * * * * - : lowers the previous note pitch by one semitone * * * * . : extend length of previous by 50% (each additional dot adds half as * * much as the previous dot, so that A.. is 1.75 times the length of A * * * * O followed by a number : sets the octave (default : O4) * * * * T followed by a number : sets the tempo in beats/min (default : T120) * * * * L followed by a number : sets the default note duration specified by the* * number - 4 for quarter notes, 8 for eighth, 16 * * for sixteenth notes, etc. (default : L4) * * * * V followed by a number : sets the volume (range 0 - 15, default : V15) * * * * MS : sets all subsequent notes to play staccato (each note is played for* * 1/2 of its allotted time followed by an equal period of silence) * * * * ML : sets all subsequent notes to play legato (each note is played for * * full length. This is the default setting. * * * * ! : resets the octave, tempo, duration, volume, and staccato setting to * * their default values. These settings persist from one play_tune() to* * the next, which allows you to more conveniently break up your music * * into reusable sections. * * * * 1 - 2000 : when immediately following a note, a number determines the * * duration of the note. For example, C16 specifies C played as * * a sixteenth note (1/16th the length of a whole note). * * * * * * Some examples: * * * * Blue Danube Waltz (played badly!) * * play_tune("MSCEGGR>F>FR>D>DRCCEGGR>G>GR>E>ER<B<BDAAR>A>AR>F>F",51); * * * *******************************************************************************/ /******************************************************************************** * COPYRIGHT NOTICE * * * * * * Parts of code based on the original m3pi library, Copyright (c) 2010 cstyles * * * * Permission is hereby granted, free of charge, to any person obtaining a copy * * of this software and associated documentation files (the "Software"), to deal* * in the Software without restriction, including without limitation the rights * * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * * copies of the Software, and to permit persons to whom the Software is * * furnished to do so, subject to the following conditions: * * * * The above copyright notice and this permission notice shall be included in * * all copies or substantial portions of the Software. * * * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,* * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * * THE SOFTWARE. * * * *******************************************************************************/