Unfinished v0.7, added bearing detection
Fork of Pi_Swarm_Library_v06_alpha by
Diff: piswarm.cpp
- Revision:
- 4:52b3e4c5a425
- Parent:
- 3:4c0f2f3de33e
- Child:
- 9:7a4fc1d7e484
--- a/piswarm.cpp Sun Feb 02 21:18:05 2014 +0000 +++ b/piswarm.cpp Sun Feb 02 22:30:47 2014 +0000 @@ -1,13 +1,14 @@ -/* University of York Robot Lab Pi Swarm Robot Library +/******************************************************************************************* + * + * University of York Robot Lab Pi Swarm Robot Library * * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York * - * Version 0.4 January 2014 + * Version 0.5 February 2014 * * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2 * - * Based on the original m3pi library, Copyright (c) 2007-2010 cstyles (see copyright notice at end of file) * - */ + ******************************************************************************************/ #include "piswarm.h" @@ -76,12 +77,6 @@ _oled_b.pulsewidth_us(blue); } - -// Returns the enable state of the center LED -char PiSwarm::get_cled_state( void ){ - return cled_enable; -} - // Set the state of an individual LED. oled = LED to enable. value = 0 for disable, 1 for enable. Use to change 1 LED without affecting others. void PiSwarm::set_oled(char oled, char value){ oled_array[oled]=value; @@ -155,7 +150,6 @@ _i2c.write(EXPANSION_IC_ADDRESS,data,3,false); } - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Center LED Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -165,6 +159,11 @@ return (cled_red << 16) + (cled_green << 8) + cled_blue; } +// Returns the enable state of the center LED +char PiSwarm::get_cled_state( void ){ + return cled_enable; +} + // Set the colour of the center LED. Values for red, green and blue range from 0 (off) to 255 (maximum). void PiSwarm::set_cled_colour( char red, char green, char blue ){ cled_red = red; @@ -190,12 +189,7 @@ // Set the center LED brightness (total period of PWM output increases as brightness decreases). Ranges from 0 (minimum) to 255 (maximum) void PiSwarm::set_cled_brightness ( char brightness ) { if( brightness > 100 ) brightness = 100; - // Brightness is set by adjusting period of PWM - // Max brightness is when total period = 256 uS - // When brightness is 90 total period = 274 uS - // When brightness is 50 total period = 546 uS - // When brightness is 10 total period = 1138 uS - // When brightness is 0 total period = 1336 uS + // Brightness is set by adjusting period of PWM. Period ranged from ~260uS at 100% to 1336uS at 0% // When calibrate_colours = 1, red = 2x normal, green = 2x normal cled_brightness = brightness; int cled_period = (104 - brightness); @@ -209,7 +203,6 @@ _cled_b.period_us(cled_period); } - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // IR Sensor Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -327,7 +320,6 @@ _i2c.write(EXPANSION_IC_ADDRESS,data,2,false); } - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // MEMS Sensor Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -390,7 +382,6 @@ return mag_values[2]; } - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Other Sensor Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -414,7 +405,6 @@ } - void PiSwarm::read_raw_sensors ( int * raw_ls_array ) { _ser.putc(SEND_RAW_SENSOR_VALUES); for (int i = 0; i < 5 ; i ++) { @@ -458,8 +448,6 @@ } - - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Motor Functions ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -513,14 +501,6 @@ motor(0,0.0); motor(1,0.0); } -////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// RF Transceiver Functions -////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -void PiSwarm::send_rf_message(char* message, char length){ - _rf.sendString(length, message); -} - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Sound Functions @@ -534,6 +514,19 @@ } } +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Display Functions +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +void PiSwarm::locate(int x, int y) { + _ser.putc(DO_LCD_GOTO_XY); + _ser.putc(x); + _ser.putc(y); +} + +void PiSwarm::cls(void) { + _ser.putc(DO_CLEAR); +} ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // EEPROM Functions @@ -619,6 +612,13 @@ return ret; } +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// RF Transceiver Functions +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +void PiSwarm::send_rf_message(char* message, char length){ + _rf.sendString(length, message); +} ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Setup and Calibration Functions @@ -883,15 +883,6 @@ } -void PiSwarm::locate(int x, int y) { - _ser.putc(DO_LCD_GOTO_XY); - _ser.putc(x); - _ser.putc(y); -} - -void PiSwarm::cls(void) { - _ser.putc(DO_CLEAR); -} int PiSwarm::print (char* text, int length) { _ser.putc(DO_PRINT); @@ -1038,11 +1029,11 @@ } } - - /******************************************************************************** * 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 *