James Hilder / Pi_Swarm_Library_7

Unfinished v0.7, added bearing detection

Fork of Pi_Swarm_Library_v06_alpha by piswarm

piswarm.h@4:52b3e4c5a425, 2014-02-02 (annotated)

Committer:
jah128
Date:
Sun Feb 02 22:30:47 2014 +0000
Revision:
4:52b3e4c5a425
Parent:
3:4c0f2f3de33e
Child:
5:09d535cb9e9d
Fixed warnings;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 4:52b3e4c5a425 1 /*******************************************************************************************
jah128 4:52b3e4c5a425 2 *
jah128 4:52b3e4c5a425 3 * University of York Robot Lab Pi Swarm Robot Library
jah128 0:9ffe8ebd1c40 4 *
jah128 0:9ffe8ebd1c40 5 * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
jah128 0:9ffe8ebd1c40 6 *
jah128 4:52b3e4c5a425 7 * Version 0.5 February 2014
jah128 0:9ffe8ebd1c40 8 *
jah128 0:9ffe8ebd1c40 9 * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2
jah128 0:9ffe8ebd1c40 10 *
jah128 4:52b3e4c5a425 11 ******************************************************************************************/
jah128 0:9ffe8ebd1c40 12
jah128 0:9ffe8ebd1c40 13 #ifndef PISWARM_H
jah128 0:9ffe8ebd1c40 14 #define PISWARM_H
jah128 0:9ffe8ebd1c40 15
jah128 0:9ffe8ebd1c40 16 #include "mbed.h"
jah128 0:9ffe8ebd1c40 17 #include "platform.h"
jah128 0:9ffe8ebd1c40 18 #include "alpha433.h"
jah128 0:9ffe8ebd1c40 19 #include "main.h"
jah128 0:9ffe8ebd1c40 20
jah128 0:9ffe8ebd1c40 21 #ifdef MBED_RPC
jah128 0:9ffe8ebd1c40 22 #include "rpc.h"
jah128 0:9ffe8ebd1c40 23 #endif
jah128 0:9ffe8ebd1c40 24
jah128 0:9ffe8ebd1c40 25 #define SEND_SIGNATURE 0x81
jah128 0:9ffe8ebd1c40 26 #define SEND_RAW_SENSOR_VALUES 0x86
jah128 0:9ffe8ebd1c40 27 #define SEND_TRIMPOT 0xB0
jah128 0:9ffe8ebd1c40 28 #define SEND_BATTERY_MILLIVOLTS 0xB1
jah128 0:9ffe8ebd1c40 29 #define DO_PLAY 0xB3
jah128 0:9ffe8ebd1c40 30 #define PI_CALIBRATE 0xB4
jah128 0:9ffe8ebd1c40 31 #define DO_CLEAR 0xB7
jah128 0:9ffe8ebd1c40 32 #define DO_PRINT 0xB8
jah128 0:9ffe8ebd1c40 33 #define DO_LCD_GOTO_XY 0xB9
jah128 0:9ffe8ebd1c40 34 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
jah128 0:9ffe8ebd1c40 35 #define SEND_LINE_POSITION 0xB6
jah128 0:9ffe8ebd1c40 36 #define AUTO_CALIBRATE 0xBA
jah128 0:9ffe8ebd1c40 37 #define SET_PID 0xBB
jah128 0:9ffe8ebd1c40 38 #define STOP_PID 0xBC
jah128 0:9ffe8ebd1c40 39 #define M1_FORWARD 0xC1
jah128 0:9ffe8ebd1c40 40 #define M1_BACKWARD 0xC2
jah128 0:9ffe8ebd1c40 41 #define M2_FORWARD 0xC5
jah128 0:9ffe8ebd1c40 42 #define M2_BACKWARD 0xC6
jah128 0:9ffe8ebd1c40 43 #define EXPANSION_IC_ADDRESS 0x40
jah128 0:9ffe8ebd1c40 44 #define MAGNETOMETER_ADDRESS 0x1C
jah128 0:9ffe8ebd1c40 45 #define ADC_ADDRESS 0x46
jah128 0:9ffe8ebd1c40 46 #define EEPROM_ADDRESS 0XA0
jah128 0:9ffe8ebd1c40 47
jah128 0:9ffe8ebd1c40 48 class PiSwarm : public Stream {
jah128 0:9ffe8ebd1c40 49
jah128 0:9ffe8ebd1c40 50 // Public functions
jah128 0:9ffe8ebd1c40 51 public:
jah128 0:9ffe8ebd1c40 52
jah128 1:b067a08ff54e 53 // Create the Pi Swarm object connected to the default pins [see end of file]
jah128 0:9ffe8ebd1c40 54 PiSwarm();
jah128 4:52b3e4c5a425 55
jah128 4:52b3e4c5a425 56
jah128 4:52b3e4c5a425 57 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 58 // LED Functions
jah128 4:52b3e4c5a425 59 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 0:9ffe8ebd1c40 60
jah128 0:9ffe8ebd1c40 61 // Returns the RGB Colour of the Outer LED as an int (r<<16 g<<8 b)
jah128 0:9ffe8ebd1c40 62 int get_oled_colour(void);
jah128 0:9ffe8ebd1c40 63
jah128 1:b067a08ff54e 64 // Returns the enable state of an single outer led
jah128 1:b067a08ff54e 65 char get_oled_state(char oled);
jah128 1:b067a08ff54e 66
jah128 4:52b3e4c5a425 67 // Set colour of outer LEDs
jah128 4:52b3e4c5a425 68 void set_oled_colour ( char red, char green, char blue );
jah128 0:9ffe8ebd1c40 69
jah128 0:9ffe8ebd1c40 70 // Toggle the state of a single outer LED without affected the others
jah128 0:9ffe8ebd1c40 71 void set_oled(char oled, char value);
jah128 4:52b3e4c5a425 72
jah128 0:9ffe8ebd1c40 73 // Toggle the states of all 10 outer LEDs
jah128 0:9ffe8ebd1c40 74 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);
jah128 0:9ffe8ebd1c40 75
jah128 4:52b3e4c5a425 76 // Disable all the LEDs and the dedicated power supply
jah128 4:52b3e4c5a425 77 void turn_off_all_oleds(void);
jah128 4:52b3e4c5a425 78
jah128 4:52b3e4c5a425 79 // Set brightness of outer LEDs (works by increasing total period for PWM)
jah128 4:52b3e4c5a425 80 void set_oled_brightness ( char brightness );
jah128 4:52b3e4c5a425 81
jah128 4:52b3e4c5a425 82 // Sends the message to the GPIO expander to update which OLEDs are active
jah128 0:9ffe8ebd1c40 83 void activate_oleds(void);
jah128 0:9ffe8ebd1c40 84
jah128 4:52b3e4c5a425 85 // Returns the RGB Colour of the Center LED as an int (r<<16 g<<8 b)
jah128 4:52b3e4c5a425 86 int get_cled_colour(void);
jah128 4:52b3e4c5a425 87
jah128 4:52b3e4c5a425 88 // Returns the enable state of the center LED
jah128 4:52b3e4c5a425 89 char get_cled_state(void);
jah128 0:9ffe8ebd1c40 90
jah128 0:9ffe8ebd1c40 91 // Set colour of central LED
jah128 0:9ffe8ebd1c40 92 void set_cled_colour ( char red, char green, char blue );
jah128 4:52b3e4c5a425 93
jah128 4:52b3e4c5a425 94 // Enable or disable the center LED
jah128 4:52b3e4c5a425 95 void enable_cled ( char enable );
jah128 0:9ffe8ebd1c40 96
jah128 0:9ffe8ebd1c40 97 // Set brightness of central LED (works by increasing total period for PWM)
jah128 0:9ffe8ebd1c40 98 void set_cled_brightness ( char brightness );
jah128 0:9ffe8ebd1c40 99
jah128 4:52b3e4c5a425 100 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 101 // IR Functions
jah128 4:52b3e4c5a425 102 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 103
jah128 4:52b3e4c5a425 104 // Returns an approximate distance of any reflected obstacle in front of the given IR sensor (in millimeters, range 0 - 100)
jah128 0:9ffe8ebd1c40 105 float read_reflected_ir_distance ( char index );
jah128 0:9ffe8ebd1c40 106
jah128 3:4c0f2f3de33e 107 // Returns the illuminated raw ADC value for a given IR sensor (500us pulse)
jah128 3:4c0f2f3de33e 108 unsigned short read_illuminated_raw_ir_value ( char index );
jah128 3:4c0f2f3de33e 109
jah128 0:9ffe8ebd1c40 110 // Returns the raw ADC value for a given IR sensor
jah128 0:9ffe8ebd1c40 111 unsigned short read_adc_value( char index );
jah128 0:9ffe8ebd1c40 112
jah128 4:52b3e4c5a425 113 // Turns on or off the LDO outputs based on the current enable variables (enable_ir_ldo and enable_led_ldo)
jah128 4:52b3e4c5a425 114 void enable_ldo_outputs ( void );
jah128 4:52b3e4c5a425 115
jah128 4:52b3e4c5a425 116 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 117 // Sensor Functions
jah128 4:52b3e4c5a425 118 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 119
jah128 4:52b3e4c5a425 120 // Read the gyroscope yaw value. Return value is degrees per second clockwise.
jah128 4:52b3e4c5a425 121 float read_gyro ( void );
jah128 4:52b3e4c5a425 122
jah128 4:52b3e4c5a425 123 // Read the X value from the accelerometer. Return value is mps2.
jah128 4:52b3e4c5a425 124 float read_accelerometer_x ( void );
jah128 4:52b3e4c5a425 125
jah128 4:52b3e4c5a425 126 // Read the Y value from the accelerometer. Return value is mps2.
jah128 4:52b3e4c5a425 127 float read_accelerometer_y ( void );
jah128 4:52b3e4c5a425 128
jah128 4:52b3e4c5a425 129 // Read the Z value from the accelerometer. Return value is mps2. Generally this will have g against it.
jah128 4:52b3e4c5a425 130 float read_accelerometer_z ( void );
jah128 4:52b3e4c5a425 131
jah128 0:9ffe8ebd1c40 132 // Read the I2C magnetometer and store values locally: use before get_magnetometer_x etc...
jah128 0:9ffe8ebd1c40 133 char read_magnetometer ( void );
jah128 0:9ffe8ebd1c40 134
jah128 0:9ffe8ebd1c40 135 // Return the magnetometer x value stored on last call of read_magnetometer()
jah128 0:9ffe8ebd1c40 136 signed short get_magnetometer_x ( void );
jah128 0:9ffe8ebd1c40 137
jah128 0:9ffe8ebd1c40 138 // Return the magnetometer y value stored on last call of read_magnetometer()
jah128 0:9ffe8ebd1c40 139 signed short get_magnetometer_y ( void );
jah128 0:9ffe8ebd1c40 140
jah128 0:9ffe8ebd1c40 141 // Return the magnetometer z value stored on last call of read_magnetometer()
jah128 0:9ffe8ebd1c40 142 signed short get_magnetometer_z ( void );
jah128 0:9ffe8ebd1c40 143
jah128 4:52b3e4c5a425 144 // Read temperature from the temperature IC; return is temperature in degrees Celsius
jah128 4:52b3e4c5a425 145 float read_temperature ( void );
jah128 4:52b3e4c5a425 146
jah128 0:9ffe8ebd1c40 147 // 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.
jah128 0:9ffe8ebd1c40 148 float read_light_sensor ( void );
jah128 0:9ffe8ebd1c40 149
jah128 4:52b3e4c5a425 150 // Read the raw line sensors into a 5-int array (range 0-2000)
jah128 4:52b3e4c5a425 151 void read_raw_sensors ( int * raw_ls_array );
jah128 4:52b3e4c5a425 152
jah128 4:52b3e4c5a425 153 // Returns the uptime of the system in seconds
jah128 4:52b3e4c5a425 154 float get_uptime (void);
jah128 4:52b3e4c5a425 155
jah128 4:52b3e4c5a425 156 // Returns the battery voltage
jah128 4:52b3e4c5a425 157 float battery(void);
jah128 4:52b3e4c5a425 158
jah128 4:52b3e4c5a425 159 // Read the voltage of the user potentiometer on the 3-pi
jah128 4:52b3e4c5a425 160 float pot_voltage(void);
jah128 4:52b3e4c5a425 161
jah128 0:9ffe8ebd1c40 162 // Read the robot ID set using the DIP switches (these are read during setup and not updated).
jah128 0:9ffe8ebd1c40 163 char get_id ( void );
jah128 0:9ffe8ebd1c40 164
jah128 0:9ffe8ebd1c40 165 // Read the switches value from the last call of the ISR
jah128 0:9ffe8ebd1c40 166 char get_switches ( void );
jah128 0:9ffe8ebd1c40 167
jah128 4:52b3e4c5a425 168 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 169 // Motor and Actuator Functions
jah128 4:52b3e4c5a425 170 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 171
jah128 4:52b3e4c5a425 172 // Returns the last speed value set for the left motor
jah128 4:52b3e4c5a425 173 float get_left_motor (void);
jah128 4:52b3e4c5a425 174
jah128 4:52b3e4c5a425 175 // Returns the last speed value set for the right motor
jah128 4:52b3e4c5a425 176 float get_right_motor (void);
jah128 4:52b3e4c5a425 177
jah128 4:52b3e4c5a425 178 // Directly control the speed and direction of the left motor (range -1.0 to 1.0)
jah128 4:52b3e4c5a425 179 void left_motor (float speed);
jah128 4:52b3e4c5a425 180
jah128 4:52b3e4c5a425 181 // Directly control the speed and direction of the right motor (range -1.0 to 1.0)
jah128 4:52b3e4c5a425 182 void right_motor (float speed);
jah128 4:52b3e4c5a425 183
jah128 4:52b3e4c5a425 184 // Drive both motors forward as the same speed (range -1.0 to 1.0)
jah128 4:52b3e4c5a425 185 void forward (float speed);
jah128 4:52b3e4c5a425 186
jah128 4:52b3e4c5a425 187 // Drive both motors backward as the same speed (range -1.0 to 1.0)
jah128 4:52b3e4c5a425 188 void backward (float speed);
jah128 4:52b3e4c5a425 189
jah128 4:52b3e4c5a425 190 // Drive left motor backwards and right motor forwards at the same speed to turn on the spot (range -1.0 to 1.0)
jah128 4:52b3e4c5a425 191 void left (float speed);
jah128 4:52b3e4c5a425 192
jah128 4:52b3e4c5a425 193 // Drive left motor forward and right motor backwards at the same speed to turn on the spot (range -1.0 to 1.0)
jah128 4:52b3e4c5a425 194 void right (float speed);
jah128 4:52b3e4c5a425 195
jah128 4:52b3e4c5a425 196 // Stop both motors
jah128 4:52b3e4c5a425 197 void stop (void);
jah128 0:9ffe8ebd1c40 198
jah128 4:52b3e4c5a425 199 // Play a tune on the 3-pi buzzer (see notes at end of file for more details)
jah128 4:52b3e4c5a425 200 void play_tune (char * tune, int length);
jah128 4:52b3e4c5a425 201
jah128 4:52b3e4c5a425 202 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 203 // EEPROM Functions
jah128 4:52b3e4c5a425 204 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 205
jah128 0:9ffe8ebd1c40 206 // Write single byte to EEPROM
jah128 0:9ffe8ebd1c40 207 void write_eeprom_byte ( int address, char data );
jah128 0:9ffe8ebd1c40 208
jah128 0:9ffe8ebd1c40 209 // Write (length) bytes to EEPROM
jah128 0:9ffe8ebd1c40 210 void write_eeprom_block ( int address, char length, char * data);
jah128 0:9ffe8ebd1c40 211
jah128 0:9ffe8ebd1c40 212 // Read single byte from EEPROM
jah128 0:9ffe8ebd1c40 213 char read_eeprom_byte ( int address );
jah128 0:9ffe8ebd1c40 214
jah128 0:9ffe8ebd1c40 215 // Read next byte from EEPROM at current address
jah128 0:9ffe8ebd1c40 216 char read_next_eeprom_byte ( void );
jah128 0:9ffe8ebd1c40 217
jah128 0:9ffe8ebd1c40 218 // Read (length) from EEPROM
jah128 0:9ffe8ebd1c40 219 char read_eeprom_block ( int address, char length );
jah128 4:52b3e4c5a425 220
jah128 4:52b3e4c5a425 221 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 222 // Display Functions
jah128 4:52b3e4c5a425 223 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 224
jah128 4:52b3e4c5a425 225 // Locate the cursor on the 8x2 LCD [to position x (0-7), y (0-1)]
jah128 4:52b3e4c5a425 226 void locate(int x, int y);
jah128 0:9ffe8ebd1c40 227
jah128 4:52b3e4c5a425 228 // Clear the LCD
jah128 4:52b3e4c5a425 229 void cls(void);
jah128 4:52b3e4c5a425 230
jah128 4:52b3e4c5a425 231 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 232 // Setup and Internal Functions
jah128 4:52b3e4c5a425 233 // Generally these functions should not be called by user code
jah128 4:52b3e4c5a425 234 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 235
jah128 4:52b3e4c5a425 236 // Send a message of given length over the RF interface
jah128 4:52b3e4c5a425 237 void send_rf_message(char* message, char length);
jah128 4:52b3e4c5a425 238
jah128 4:52b3e4c5a425 239 // The default setup routine: called when the Pi Swarm is created
jah128 4:52b3e4c5a425 240 void setup ( void );
jah128 4:52b3e4c5a425 241
jah128 4:52b3e4c5a425 242 // Sets up the IO expansion IC using I2C commands; returns a zero if successful
jah128 4:52b3e4c5a425 243 int setup_expansion_ic ( void );
jah128 4:52b3e4c5a425 244
jah128 4:52b3e4c5a425 245 // Called after a delay from the IO expansion interrupt; delay helps debounce switches
jah128 4:52b3e4c5a425 246 void interrupt_timeout_event ( void );
jah128 0:9ffe8ebd1c40 247
jah128 4:52b3e4c5a425 248 // The interrupt handler for the IO expansion IC; calls the timeout event to debounce switches
jah128 4:52b3e4c5a425 249 void expansion_interrupt_handler ( void );
jah128 4:52b3e4c5a425 250
jah128 4:52b3e4c5a425 251 // Turns off interrupt LED after a delay to indicate switch has been pressed
jah128 4:52b3e4c5a425 252 void led_timeout_event ( void );
jah128 4:52b3e4c5a425 253
jah128 4:52b3e4c5a425 254 // Routine to calibrate gyro; by default run in setup, robot should be stationary to avoid errors (Returns 1 if successful, 0 if failed)
jah128 4:52b3e4c5a425 255 char calibrate_gyro ( void );
jah128 4:52b3e4c5a425 256
jah128 4:52b3e4c5a425 257 // 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)
jah128 4:52b3e4c5a425 258 char calibrate_accelerometer ( void );
jah128 0:9ffe8ebd1c40 259
jah128 4:52b3e4c5a425 260 // Routine to calibrate magnetometer (Returns 1 if successful, 0 if failed)
jah128 4:52b3e4c5a425 261 char calibrate_magnetometer ( void );
jah128 4:52b3e4c5a425 262
jah128 4:52b3e4c5a425 263 // Send instructions to the I2C ADC (for IR measurement)
jah128 4:52b3e4c5a425 264 char setup_adc( void );
jah128 4:52b3e4c5a425 265
jah128 4:52b3e4c5a425 266 // Routine to initialise radio
jah128 4:52b3e4c5a425 267 void setup_radio( void );
jah128 4:52b3e4c5a425 268
jah128 4:52b3e4c5a425 269 // Blinks the calibration LED during calibration (turns off if calibration successful)
jah128 4:52b3e4c5a425 270 void calibrate_ticker_routine ( void );
jah128 0:9ffe8ebd1c40 271
jah128 4:52b3e4c5a425 272 // Used to debug/test the OLED array
jah128 4:52b3e4c5a425 273 void test_oled(void);
jah128 4:52b3e4c5a425 274
jah128 4:52b3e4c5a425 275 // Starts the system timer
jah128 4:52b3e4c5a425 276 void start_system_timer(void);
jah128 4:52b3e4c5a425 277
jah128 4:52b3e4c5a425 278 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 279 // Native m3Pi Functions
jah128 4:52b3e4c5a425 280 // These should preserve functionality of (most) m3pi code but may be fully functional on Pi Swarm
jah128 4:52b3e4c5a425 281 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jah128 4:52b3e4c5a425 282
jah128 1:b067a08ff54e 283 // Force a hardware reset of the 3-pi
jah128 0:9ffe8ebd1c40 284 void reset (void);
jah128 0:9ffe8ebd1c40 285
jah128 4:52b3e4c5a425 286 // Read the position of the detected line [using line-following IR]
jah128 0:9ffe8ebd1c40 287 float line_position (void);
jah128 0:9ffe8ebd1c40 288
jah128 4:52b3e4c5a425 289 // Calibrate the sensors. This turns the robot left then right, looking for a line [using line-following IR]
jah128 0:9ffe8ebd1c40 290 char sensor_auto_calibrate (void);
jah128 0:9ffe8ebd1c40 291
jah128 4:52b3e4c5a425 292 // Set calibration manually to the current settings.
jah128 0:9ffe8ebd1c40 293 void calibrate(void);
jah128 0:9ffe8ebd1c40 294
jah128 4:52b3e4c5a425 295 // Clear the current calibration settings
jah128 0:9ffe8ebd1c40 296 void reset_calibration (void);
jah128 0:9ffe8ebd1c40 297
jah128 4:52b3e4c5a425 298 // Start the PID contoller
jah128 0:9ffe8ebd1c40 299 void PID_start(int max_speed, int a, int b, int c, int d);
jah128 0:9ffe8ebd1c40 300
jah128 4:52b3e4c5a425 301 // Stop the PID controller
jah128 0:9ffe8ebd1c40 302 void PID_stop();
jah128 0:9ffe8ebd1c40 303
jah128 4:52b3e4c5a425 304 // Send a character directly to the 3pi serial interface
jah128 0:9ffe8ebd1c40 305 int putc(int c);
jah128 0:9ffe8ebd1c40 306
jah128 4:52b3e4c5a425 307 // Receive a character directly to the 3pi serial interface
jah128 0:9ffe8ebd1c40 308 int getc();
jah128 0:9ffe8ebd1c40 309
jah128 4:52b3e4c5a425 310 // Send a string buffer to the 3pi serial interface
jah128 0:9ffe8ebd1c40 311 int print(char* text, int length);
jah128 0:9ffe8ebd1c40 312
jah128 4:52b3e4c5a425 313 #ifdef MBED_RPC
jah128 4:52b3e4c5a425 314 virtual const struct rpc_method *get_rpc_methods();
jah128 4:52b3e4c5a425 315 #endif
jah128 0:9ffe8ebd1c40 316
jah128 4:52b3e4c5a425 317 private :
jah128 0:9ffe8ebd1c40 318
jah128 0:9ffe8ebd1c40 319 Serial _ser;
jah128 0:9ffe8ebd1c40 320 PwmOut _oled_r, _oled_g, _oled_b, _cled_r, _cled_g, _cled_b;
jah128 0:9ffe8ebd1c40 321 AnalogIn _gyro, _accel_x, _accel_y, _accel_z, _temperature, _light;
jah128 4:52b3e4c5a425 322 I2C _i2c;
jah128 0:9ffe8ebd1c40 323 DigitalOut _irpulse_1, _irpulse_2;
jah128 0:9ffe8ebd1c40 324 Alpha433 _rf;
jah128 0:9ffe8ebd1c40 325 Timer _system_timer;
jah128 0:9ffe8ebd1c40 326
jah128 0:9ffe8ebd1c40 327 void motor (int motor, float speed);
jah128 0:9ffe8ebd1c40 328 virtual int _putc(int c);
jah128 0:9ffe8ebd1c40 329 virtual int _getc();
jah128 0:9ffe8ebd1c40 330
jah128 0:9ffe8ebd1c40 331 };
jah128 0:9ffe8ebd1c40 332
jah128 0:9ffe8ebd1c40 333 void display_system_time(void);
jah128 0:9ffe8ebd1c40 334 void init(void);
jah128 0:9ffe8ebd1c40 335 extern Serial pc;
jah128 0:9ffe8ebd1c40 336 extern PiSwarm piswarm;
jah128 0:9ffe8ebd1c40 337
jah128 0:9ffe8ebd1c40 338 #endif
jah128 0:9ffe8ebd1c40 339
jah128 1:b067a08ff54e 340 /********************************************************************************
jah128 1:b067a08ff54e 341 * MBED Pin connection layout *
jah128 1:b067a08ff54e 342 * *
jah128 1:b067a08ff54e 343 * * Pin 05 : Alpha Transceiver SDI *
jah128 1:b067a08ff54e 344 * * Pin 06 : Alpha Transceiver SDO *
jah128 1:b067a08ff54e 345 * * Pin 07 : Alpha Transceiver CLK *
jah128 1:b067a08ff54e 346 * * Pin 08 : Alpha Transceiver FSS *
jah128 1:b067a08ff54e 347 * * Pin 09 : Serial (3pi) transmit *
jah128 1:b067a08ff54e 348 * * Pin 10 : Serial (3pi) receive *
jah128 1:b067a08ff54e 349 * * Pin 11 : Alpha Transceiver NIRQ *
jah128 1:b067a08ff54e 350 * * Pin 12 : IR Pulse Output for IR1,2,7,8 *
jah128 1:b067a08ff54e 351 * * Pin 13 : IR Pulse Output for IR3,4,5,6 *
jah128 1:b067a08ff54e 352 * * Pin 14 : Echo Pin for Sonar *
jah128 1:b067a08ff54e 353 * * Pin 15 : Light Sensor Analogue Input *
jah128 1:b067a08ff54e 354 * * Pin 16 : Gyrometer Analogue Input *
jah128 1:b067a08ff54e 355 * * Pin 17 : Accelerometer Z Analogue Input *
jah128 1:b067a08ff54e 356 * * Pin 18 : Accelerometer Y Analogue Input *
jah128 1:b067a08ff54e 357 * * Pin 19 : Accelerometer X Analogue Input *
jah128 1:b067a08ff54e 358 * * Pin 20 : Temperature Sensor Analogue Input *
jah128 1:b067a08ff54e 359 * * Pin 21 : Center LED Blue PWM Output *
jah128 1:b067a08ff54e 360 * * Pin 22 : Center LED Green PWM Output *
jah128 1:b067a08ff54e 361 * * Pin 23 : Center LED Red PWM Output *
jah128 1:b067a08ff54e 362 * * Pin 24 : Outer LED Blue PWM Output *
jah128 1:b067a08ff54e 363 * * Pin 25 : Outer LED Green PWM Output *
jah128 1:b067a08ff54e 364 * * Pin 26 : Outer LED Red PWM Output *
jah128 1:b067a08ff54e 365 * * Pin 27 : I2C SCL *
jah128 1:b067a08ff54e 366 * * Pin 28 : I2C SDA *
jah128 1:b067a08ff54e 367 * * Pin 29 : GPIO Expander Interrupt *
jah128 1:b067a08ff54e 368 * * Pin 30 : Trigger Pin for Sonar *
jah128 1:b067a08ff54e 369 * * Pin 31 : USB D+ Connector *
jah128 1:b067a08ff54e 370 * * Pin 32 : USB D- Connector *
jah128 1:b067a08ff54e 371 * *
jah128 1:b067a08ff54e 372 *******************************************************************************/
jah128 0:9ffe8ebd1c40 373
jah128 0:9ffe8ebd1c40 374 /********************************************************************************
jah128 1:b067a08ff54e 375 * Using the 3-Pi Buzzer *
jah128 1:b067a08ff54e 376 * *
jah128 1:b067a08ff54e 377 * play_tune (char * tune, int length) *
jah128 1:b067a08ff54e 378 * *
jah128 1:b067a08ff54e 379 * tune - Pointer to a character sequence of the tune *
jah128 1:b067a08ff54e 380 * length - Length of characters in sequence *
jah128 1:b067a08ff54e 381 * *
jah128 1:b067a08ff54e 382 * The character sequence recognises the following characters: *
jah128 1:b067a08ff54e 383 * *
jah128 1:b067a08ff54e 384 * A – G : used to specify the notes that will be played *
jah128 1:b067a08ff54e 385 * *
jah128 1:b067a08ff54e 386 * R : used to specify a rest (no sound for the duration of the note) *
jah128 1:b067a08ff54e 387 * *
jah128 1:b067a08ff54e 388 * < or > : plays the next note one octave lower or higher *
jah128 1:b067a08ff54e 389 * *
jah128 1:b067a08ff54e 390 * + or # : raises the previous notes pitch by one semitone *
jah128 1:b067a08ff54e 391 * *
jah128 1:b067a08ff54e 392 * - : lowers the previous note pitch by one semitone *
jah128 1:b067a08ff54e 393 * *
jah128 1:b067a08ff54e 394 * . : extend length of previous by 50% (each additional dot adds half as *
jah128 1:b067a08ff54e 395 * much as the previous dot, so that A.. is 1.75 times the length of A *
jah128 1:b067a08ff54e 396 * *
jah128 1:b067a08ff54e 397 * O followed by a number : sets the octave (default : O4) *
jah128 1:b067a08ff54e 398 * *
jah128 1:b067a08ff54e 399 * T followed by a number : sets the tempo in beats/min (default : T120) *
jah128 1:b067a08ff54e 400 * *
jah128 1:b067a08ff54e 401 * L followed by a number : sets the default note duration specified by the*
jah128 1:b067a08ff54e 402 * number - 4 for quarter notes, 8 for eighth, 16 *
jah128 1:b067a08ff54e 403 * for sixteenth notes, etc. (default : L4) *
jah128 1:b067a08ff54e 404 * *
jah128 1:b067a08ff54e 405 * V followed by a number : sets the volume (range 0 - 15, default : V15) *
jah128 1:b067a08ff54e 406 * *
jah128 1:b067a08ff54e 407 * MS : sets all subsequent notes to play staccato (each note is played for*
jah128 1:b067a08ff54e 408 * 1/2 of its allotted time followed by an equal period of silence) *
jah128 1:b067a08ff54e 409 * *
jah128 1:b067a08ff54e 410 * ML : sets all subsequent notes to play legato (each note is played for *
jah128 1:b067a08ff54e 411 * full length. This is the default setting. *
jah128 1:b067a08ff54e 412 * *
jah128 1:b067a08ff54e 413 * ! : resets the octave, tempo, duration, volume, and staccato setting to *
jah128 1:b067a08ff54e 414 * their default values. These settings persist from one play_tune() to*
jah128 1:b067a08ff54e 415 * the next, which allows you to more conveniently break up your music *
jah128 1:b067a08ff54e 416 * into reusable sections. *
jah128 1:b067a08ff54e 417 * *
jah128 1:b067a08ff54e 418 * 1 - 2000 : when immediately following a note, a number determines the *
jah128 1:b067a08ff54e 419 * duration of the note. For example, C16 specifies C played as *
jah128 1:b067a08ff54e 420 * a sixteenth note (1/16th the length of a whole note). *
jah128 1:b067a08ff54e 421 * *
jah128 1:b067a08ff54e 422 * *
jah128 1:b067a08ff54e 423 * Some examples: *
jah128 1:b067a08ff54e 424 * *
jah128 1:b067a08ff54e 425 * Blue Danube Waltz (played badly!) *
jah128 1:b067a08ff54e 426 * play_tune("MSCEGGR>F>FR>D>DRCCEGGR>G>GR>E>ER<B<BDAAR>A>AR>F>F",51); *
jah128 1:b067a08ff54e 427 * *
jah128 1:b067a08ff54e 428 *******************************************************************************/
jah128 1:b067a08ff54e 429
jah128 1:b067a08ff54e 430 /********************************************************************************
jah128 0:9ffe8ebd1c40 431 * COPYRIGHT NOTICE *
jah128 0:9ffe8ebd1c40 432 * *
jah128 4:52b3e4c5a425 433 * *
jah128 4:52b3e4c5a425 434 * Parts of code based on the original m3pi library, Copyright (c) 2010 cstyles *
jah128 4:52b3e4c5a425 435 * *
jah128 0:9ffe8ebd1c40 436 * Permission is hereby granted, free of charge, to any person obtaining a copy *
jah128 0:9ffe8ebd1c40 437 * of this software and associated documentation files (the "Software"), to deal*
jah128 0:9ffe8ebd1c40 438 * in the Software without restriction, including without limitation the rights *
jah128 0:9ffe8ebd1c40 439 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
jah128 0:9ffe8ebd1c40 440 * copies of the Software, and to permit persons to whom the Software is *
jah128 0:9ffe8ebd1c40 441 * furnished to do so, subject to the following conditions: *
jah128 0:9ffe8ebd1c40 442 * *
jah128 0:9ffe8ebd1c40 443 * The above copyright notice and this permission notice shall be included in *
jah128 0:9ffe8ebd1c40 444 * all copies or substantial portions of the Software. *
jah128 0:9ffe8ebd1c40 445 * *
jah128 0:9ffe8ebd1c40 446 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
jah128 0:9ffe8ebd1c40 447 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
jah128 0:9ffe8ebd1c40 448 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
jah128 0:9ffe8ebd1c40 449 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
jah128 0:9ffe8ebd1c40 450 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
jah128 0:9ffe8ebd1c40 451 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
jah128 0:9ffe8ebd1c40 452 * THE SOFTWARE. *
jah128 0:9ffe8ebd1c40 453 * *
jah128 0:9ffe8ebd1c40 454 *******************************************************************************/