James Allen / Mbed 2 deprecated MyMazeSolver

working modified m3pimazesolver

Dependencies:   mbed

m3pimaze.h@2:73f7cc4c30c7, 2013-04-06 (annotated)

Committer:
jalle1714
Date:
Sat Apr 06 15:22:01 2013 +0000
Revision:
2:73f7cc4c30c7
Parent:
0:05dee1d3d857 
Added playtune to play a melody at the end of pressed function; Put in a one second pause after resistor pullup to prevent from jumping to pressed function before button pressed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jalle1714 0:05dee1d3d857 1 /* mbed m3pi Library
jalle1714 0:05dee1d3d857 2 * Copyright (c) 2007-2010 cstyles
jalle1714 0:05dee1d3d857 3 *
jalle1714 0:05dee1d3d857 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
jalle1714 0:05dee1d3d857 5 * of this software and associated documentation files (the "Software"), to deal
jalle1714 0:05dee1d3d857 6 * in the Software without restriction, including without limitation the rights
jalle1714 0:05dee1d3d857 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jalle1714 0:05dee1d3d857 8 * copies of the Software, and to permit persons to whom the Software is
jalle1714 0:05dee1d3d857 9 * furnished to do so, subject to the following conditions:
jalle1714 0:05dee1d3d857 10 *
jalle1714 0:05dee1d3d857 11 * The above copyright notice and this permission notice shall be included in
jalle1714 0:05dee1d3d857 12 * all copies or substantial portions of the Software.
jalle1714 0:05dee1d3d857 13 *
jalle1714 0:05dee1d3d857 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jalle1714 0:05dee1d3d857 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jalle1714 0:05dee1d3d857 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jalle1714 0:05dee1d3d857 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jalle1714 0:05dee1d3d857 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jalle1714 0:05dee1d3d857 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jalle1714 0:05dee1d3d857 20 * THE SOFTWARE.
jalle1714 0:05dee1d3d857 21 */
jalle1714 0:05dee1d3d857 22
jalle1714 0:05dee1d3d857 23 #ifndef M3PI_H
jalle1714 0:05dee1d3d857 24 #define M3PI_H
jalle1714 0:05dee1d3d857 25
jalle1714 0:05dee1d3d857 26 #include "mbed.h"
jalle1714 0:05dee1d3d857 27 #include "platform.h"
jalle1714 0:05dee1d3d857 28
jalle1714 0:05dee1d3d857 29 #ifdef MBED_RPC
jalle1714 0:05dee1d3d857 30 #include "rpc.h"
jalle1714 0:05dee1d3d857 31 #endif
jalle1714 0:05dee1d3d857 32
jalle1714 0:05dee1d3d857 33 #define SEND_SIGNATURE 0x81
jalle1714 0:05dee1d3d857 34 #define SEND_RAW_SENSOR_VALUES 0x86
jalle1714 0:05dee1d3d857 35 #define SEND_CALIBRATED_SENSOR_VALUES 0x87
jalle1714 0:05dee1d3d857 36 #define SEND_TRIMPOT 0xB0
jalle1714 0:05dee1d3d857 37 #define SEND_BATTERY_MILLIVOLTS 0xB1
jalle1714 0:05dee1d3d857 38 #define DO_PLAY 0xB3
jalle1714 0:05dee1d3d857 39 #define PI_CALIBRATE 0xB4
jalle1714 0:05dee1d3d857 40 #define DO_CLEAR 0xB7
jalle1714 0:05dee1d3d857 41 #define DO_PRINT 0xB8
jalle1714 0:05dee1d3d857 42 #define DO_LCD_GOTO_XY 0xB9
jalle1714 0:05dee1d3d857 43 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
jalle1714 0:05dee1d3d857 44 #define SEND_LINE_POSITION 0xB6
jalle1714 0:05dee1d3d857 45 #define AUTO_CALIBRATE 0xBA
jalle1714 0:05dee1d3d857 46 #define SET_PID 0xBB
jalle1714 0:05dee1d3d857 47 #define STOP_PID 0xBC
jalle1714 0:05dee1d3d857 48 #define M1_FORWARD 0xC1
jalle1714 0:05dee1d3d857 49 #define M1_BACKWARD 0xC2
jalle1714 0:05dee1d3d857 50 #define M2_FORWARD 0xC5
jalle1714 0:05dee1d3d857 51 #define M2_BACKWARD 0xC6
jalle1714 0:05dee1d3d857 52
jalle1714 0:05dee1d3d857 53
jalle1714 0:05dee1d3d857 54
jalle1714 0:05dee1d3d857 55
jalle1714 0:05dee1d3d857 56
jalle1714 0:05dee1d3d857 57
jalle1714 0:05dee1d3d857 58
jalle1714 0:05dee1d3d857 59 /** m3pi control class
jalle1714 0:05dee1d3d857 60 *
jalle1714 0:05dee1d3d857 61 * Example:
jalle1714 0:05dee1d3d857 62 * @code
jalle1714 0:05dee1d3d857 63 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
jalle1714 0:05dee1d3d857 64
jalle1714 0:05dee1d3d857 65 #include "mbed.h"
jalle1714 0:05dee1d3d857 66 #include "m3pimusic.h"
jalle1714 0:05dee1d3d857 67
jalle1714 0:05dee1d3d857 68 m3pi pi(p8,p9,p10);
jalle1714 0:05dee1d3d857 69
jalle1714 0:05dee1d3d857 70 int main() {
jalle1714 0:05dee1d3d857 71
jalle1714 0:05dee1d3d857 72 wait(0.5);
jalle1714 0:05dee1d3d857 73
jalle1714 0:05dee1d3d857 74 pi.forward(0.5);
jalle1714 0:05dee1d3d857 75 wait (0.5);
jalle1714 0:05dee1d3d857 76 pi.left(0.5);
jalle1714 0:05dee1d3d857 77 wait (0.5);
jalle1714 0:05dee1d3d857 78 pi.backward(0.5);
jalle1714 0:05dee1d3d857 79 wait (0.5);
jalle1714 0:05dee1d3d857 80 pi.right(0.5);
jalle1714 0:05dee1d3d857 81 wait (0.5);
jalle1714 0:05dee1d3d857 82
jalle1714 0:05dee1d3d857 83 pi.stop();
jalle1714 0:05dee1d3d857 84
jalle1714 0:05dee1d3d857 85 }
jalle1714 0:05dee1d3d857 86 * @endcode
jalle1714 0:05dee1d3d857 87 */
jalle1714 0:05dee1d3d857 88 class m3pi : public Stream {
jalle1714 0:05dee1d3d857 89
jalle1714 0:05dee1d3d857 90 // Public functions
jalle1714 0:05dee1d3d857 91 public:
jalle1714 0:05dee1d3d857 92
jalle1714 0:05dee1d3d857 93 /** Create the m3pi object connected to the default pins
jalle1714 0:05dee1d3d857 94 *
jalle1714 0:05dee1d3d857 95 * @param nrst GPIO pin used for reset. Default is p8
jalle1714 0:05dee1d3d857 96 * @param tx Serial transmit pin. Default is p9
jalle1714 0:05dee1d3d857 97 * @param rx Serial receive pin. Default is p10
jalle1714 0:05dee1d3d857 98 */
jalle1714 0:05dee1d3d857 99 m3pi(PinName nrst, PinName tx, PinName rx);
jalle1714 0:05dee1d3d857 100
jalle1714 0:05dee1d3d857 101
jalle1714 0:05dee1d3d857 102 /** Force a hardware reset of the 3pi
jalle1714 0:05dee1d3d857 103 */
jalle1714 0:05dee1d3d857 104 void reset (void);
jalle1714 0:05dee1d3d857 105
jalle1714 0:05dee1d3d857 106 /** Directly control the speed and direction of the left motor
jalle1714 0:05dee1d3d857 107 *
jalle1714 0:05dee1d3d857 108 * @param speed A normalised number -1.0 - 1.0 represents the full range.
jalle1714 0:05dee1d3d857 109 */
jalle1714 0:05dee1d3d857 110 void left_motor (float speed);
jalle1714 0:05dee1d3d857 111
jalle1714 0:05dee1d3d857 112 /** Directly control the speed and direction of the right motor
jalle1714 0:05dee1d3d857 113 *
jalle1714 0:05dee1d3d857 114 * @param speed A normalised number -1.0 - 1.0 represents the full range.
jalle1714 0:05dee1d3d857 115 */
jalle1714 0:05dee1d3d857 116 void right_motor (float speed);
jalle1714 0:05dee1d3d857 117
jalle1714 0:05dee1d3d857 118 /** Drive both motors forward as the same speed
jalle1714 0:05dee1d3d857 119 *
jalle1714 0:05dee1d3d857 120 * @param speed A normalised number 0 - 1.0 represents the full range.
jalle1714 0:05dee1d3d857 121 */
jalle1714 0:05dee1d3d857 122 void forward (float speed);
jalle1714 0:05dee1d3d857 123
jalle1714 0:05dee1d3d857 124 /** Drive both motors backward as the same speed
jalle1714 0:05dee1d3d857 125 *
jalle1714 0:05dee1d3d857 126 * @param speed A normalised number 0 - 1.0 represents the full range.
jalle1714 0:05dee1d3d857 127 */
jalle1714 0:05dee1d3d857 128 void backward (float speed);
jalle1714 0:05dee1d3d857 129
jalle1714 0:05dee1d3d857 130 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
jalle1714 0:05dee1d3d857 131 *
jalle1714 0:05dee1d3d857 132 * @param speed A normalised number 0 - 1.0 represents the full range.
jalle1714 0:05dee1d3d857 133 */
jalle1714 0:05dee1d3d857 134 void left (float speed);
jalle1714 0:05dee1d3d857 135
jalle1714 0:05dee1d3d857 136 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
jalle1714 0:05dee1d3d857 137 *
jalle1714 0:05dee1d3d857 138 * @param speed A normalised number 0 - 1.0 represents the full range.
jalle1714 0:05dee1d3d857 139 */
jalle1714 0:05dee1d3d857 140 void right (float speed);
jalle1714 0:05dee1d3d857 141
jalle1714 0:05dee1d3d857 142 /** Stop both motors
jalle1714 0:05dee1d3d857 143 *
jalle1714 0:05dee1d3d857 144 */
jalle1714 0:05dee1d3d857 145 void stop (void);
jalle1714 0:05dee1d3d857 146
jalle1714 0:05dee1d3d857 147 /** Read the voltage of the potentiometer on the 3pi
jalle1714 0:05dee1d3d857 148 * @returns voltage as a float
jalle1714 0:05dee1d3d857 149 *
jalle1714 0:05dee1d3d857 150 */
jalle1714 0:05dee1d3d857 151 float pot_voltage(void);
jalle1714 0:05dee1d3d857 152
jalle1714 0:05dee1d3d857 153 /** Read the battery voltage on the 3pi
jalle1714 0:05dee1d3d857 154 * @returns battery voltage as a float
jalle1714 0:05dee1d3d857 155 *
jalle1714 0:05dee1d3d857 156 */
jalle1714 0:05dee1d3d857 157 float battery(void);
jalle1714 0:05dee1d3d857 158
jalle1714 0:05dee1d3d857 159 /** Read the position of the detected line
jalle1714 0:05dee1d3d857 160 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
jalle1714 0:05dee1d3d857 161 *
jalle1714 0:05dee1d3d857 162 */
jalle1714 0:05dee1d3d857 163 float line_position (void);
jalle1714 0:05dee1d3d857 164
jalle1714 0:05dee1d3d857 165
jalle1714 0:05dee1d3d857 166 /** Calibrate the sensors. This turns the robot left then right, loking for a line
jalle1714 0:05dee1d3d857 167 *
jalle1714 0:05dee1d3d857 168 */
jalle1714 0:05dee1d3d857 169 char sensor_auto_calibrate (void);
jalle1714 0:05dee1d3d857 170
jalle1714 0:05dee1d3d857 171 /** Set calibration manually to the current settings.
jalle1714 0:05dee1d3d857 172 *
jalle1714 0:05dee1d3d857 173 */
jalle1714 0:05dee1d3d857 174 void calibrate(void);
jalle1714 0:05dee1d3d857 175
jalle1714 0:05dee1d3d857 176 /** Clear the current calibration settings
jalle1714 0:05dee1d3d857 177 *
jalle1714 0:05dee1d3d857 178 */
jalle1714 0:05dee1d3d857 179 void reset_calibration (void);
jalle1714 0:05dee1d3d857 180
jalle1714 0:05dee1d3d857 181 void PID_start(int max_speed, int a, int b, int c, int d);
jalle1714 0:05dee1d3d857 182
jalle1714 0:05dee1d3d857 183 void PID_stop();
jalle1714 0:05dee1d3d857 184
jalle1714 0:05dee1d3d857 185 /** Write to the 8 LEDs
jalle1714 0:05dee1d3d857 186 *
jalle1714 0:05dee1d3d857 187 * @param leds An 8 bit value to put on the LEDs
jalle1714 0:05dee1d3d857 188 */
jalle1714 0:05dee1d3d857 189 void leds(int val);
jalle1714 0:05dee1d3d857 190
jalle1714 0:05dee1d3d857 191
jalle1714 0:05dee1d3d857 192
jalle1714 0:05dee1d3d857 193 /** Locate the cursor on the 8x2 LCD
jalle1714 0:05dee1d3d857 194 *
jalle1714 0:05dee1d3d857 195 * @param x The horizontal position, from 0 to 7
jalle1714 0:05dee1d3d857 196 * @param y The vertical position, from 0 to 1
jalle1714 0:05dee1d3d857 197 */
jalle1714 0:05dee1d3d857 198 void locate(int x, int y);
jalle1714 0:05dee1d3d857 199
jalle1714 0:05dee1d3d857 200 /** Clear the LCD
jalle1714 0:05dee1d3d857 201 *
jalle1714 0:05dee1d3d857 202 */
jalle1714 0:05dee1d3d857 203 void cls(void);
jalle1714 0:05dee1d3d857 204
jalle1714 0:05dee1d3d857 205 /** Send a character directly to the 3pi serial interface
jalle1714 0:05dee1d3d857 206 * @param c The character to send to the 3pi
jalle1714 0:05dee1d3d857 207 */
jalle1714 0:05dee1d3d857 208 int putc(int c);
jalle1714 0:05dee1d3d857 209
jalle1714 0:05dee1d3d857 210 /** Receive a character directly to the 3pi serial interface
jalle1714 0:05dee1d3d857 211 * @returns c The character received from the 3pi
jalle1714 0:05dee1d3d857 212 */
jalle1714 0:05dee1d3d857 213 int getc();
jalle1714 0:05dee1d3d857 214
jalle1714 0:05dee1d3d857 215 /** Send a string buffer to the 3pi serial interface
jalle1714 0:05dee1d3d857 216 * @param text A pointer to a char array
jalle1714 0:05dee1d3d857 217 * @param int The character to send to the 3pi
jalle1714 0:05dee1d3d857 218 */
jalle1714 0:05dee1d3d857 219 int print(char* text, int length);
jalle1714 0:05dee1d3d857 220
jalle1714 0:05dee1d3d857 221 /** Play a tune
jalle1714 0:05dee1d3d857 222 */
jalle1714 0:05dee1d3d857 223 int playtune(char* text, int length);
jalle1714 0:05dee1d3d857 224
jalle1714 0:05dee1d3d857 225 /**
jalle1714 0:05dee1d3d857 226 * Read the calibrated value of a sensor
jalle1714 0:05dee1d3d857 227 * @param sensor Pointer to array sensor [0-4]
jalle1714 0:05dee1d3d857 228 * @param values returned in the range 0-1000 where 1000=completely dark
jalle1714 0:05dee1d3d857 229 */
jalle1714 0:05dee1d3d857 230 void readsensor(int *sensor);
jalle1714 0:05dee1d3d857 231
jalle1714 0:05dee1d3d857 232 #ifdef MBED_RPC
jalle1714 0:05dee1d3d857 233 virtual const struct rpc_method *get_rpc_methods();
jalle1714 0:05dee1d3d857 234 #endif
jalle1714 0:05dee1d3d857 235
jalle1714 0:05dee1d3d857 236 private :
jalle1714 0:05dee1d3d857 237
jalle1714 0:05dee1d3d857 238 DigitalOut _nrst;
jalle1714 0:05dee1d3d857 239 Serial _ser;
jalle1714 0:05dee1d3d857 240 BusOut _leds;
jalle1714 0:05dee1d3d857 241
jalle1714 0:05dee1d3d857 242 void motor (int motor, float speed);
jalle1714 0:05dee1d3d857 243 virtual int _putc(int c);
jalle1714 0:05dee1d3d857 244 virtual int _getc();
jalle1714 0:05dee1d3d857 245
jalle1714 0:05dee1d3d857 246 };
jalle1714 0:05dee1d3d857 247
jalle1714 0:05dee1d3d857 248 #endif