Diff: m3pi.h

Revision:

9:deb9547909c3

Parent:

8:4b7d6ea9b35b

Child:

10:f89d2a3a9ed2

diff -r 4b7d6ea9b35b -r deb9547909c3 m3pi.h
--- a/m3pi.h	Thu May 12 13:26:37 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,236 +0,0 @@
-/* mbed m3pi Library
- * Copyright (c) 2007-2010 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.
- */
-
-#ifndef M3PI_H
-#define M3PI_H
-
-#include "mbed.h"
-#include "platform.h"
-
-#ifdef MBED_RPC
-#include "rpc.h"
-#endif
-
-#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
-
-
-
-/** m3pi control class
- *
- * Example:
- * @code
- * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
-
-   #include "mbed.h"
-   #include "m3pi.h"
-
-   m3pi pi;
-
-   int main() {
-
-     wait(0.5);
-
-     pi.forward(0.5);
-     wait (0.5);
-     pi.left(0.5);
-     wait (0.5);
-     pi.backward(0.5);
-     wait (0.5);
-     pi.right(0.5);
-     wait (0.5);
-
-     pi.stop();
-
- }
- * @endcode
- */
-class m3pi :  public Stream {
-
-    // Public functions
-public:
-
-    /** Create the m3pi object connected to the default pins
-     *
-     * @param nrst GPIO pin used for reset. Default is p23
-     * @param tx Serial transmit pin. Default is p9
-     * @param rx Serial receive pin. Default is p10
-     */
-    m3pi();
-
-
-    /** Create the m3pi object connected to specific pins
-     *
-     */
-    m3pi(PinName nrst, PinName tx, PinName rx);
-
-
-
-    /** Force a hardware reset of the 3pi
-     */
-    void reset (void);
-
-    /** Directly control the speed and direction of the left motor
-     *
-     * @param speed A normalised number -1.0 - 1.0 represents the full range.
-     */
-    void left_motor (float speed);
-
-    /** Directly control the speed and direction of the right motor
-     *
-     * @param speed A normalised number -1.0 - 1.0 represents the full range.
-     */
-    void right_motor (float speed);
-
-    /** Drive both motors forward as the same speed
-     *
-     * @param speed A normalised number 0 - 1.0 represents the full range.
-     */
-    void forward (float speed);
-
-    /** Drive both motors backward as the same speed
-     *
-     * @param speed A normalised number 0 - 1.0 represents the full range.
-     */
-    void backward (float speed);
-
-    /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
-     *
-     * @param speed A normalised number 0 - 1.0 represents the full range.
-     */
-    void left (float speed);
-
-    /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
-     * @param speed A normalised number 0 - 1.0 represents the full range.
-     */
-    void right (float speed);
-
-    /** Stop both motors
-     *
-     */
-    void stop (void);
-
-    /** Read the voltage of the potentiometer on the 3pi
-     * @returns voltage as a float
-     *
-     */
-    float pot_voltage(void);
-
-    /** Read the battery voltage on the 3pi
-     * @returns battery voltage as a float
-     */
-    float battery(void);
-
-    /** Read the position of the detected line
-     * @returns position as A normalised number -1.0 - 1.0 represents the full range.
-     *  -1.0 means line is on the left, or the line has been lost
-     *   0.0 means the line is in the middle
-     *   1.0 means the line is on the right
-     */
-    float line_position (void);
-
-
-    /** Calibrate the sensors. This turns the robot left then right, looking for a line
-     *
-     */
-    char sensor_auto_calibrate (void);
-
-    /** Set calibration manually to the current settings.
-     *
-     */
-    void calibrate(void);
-
-    /** Clear the current calibration settings
-     *
-     */
-    void reset_calibration (void);
-
-    void PID_start(int max_speed, int a, int b, int c, int d);
-
-    void PID_stop();
-
-    /** Write to the 8 LEDs
-     *
-     * @param leds An 8 bit value to put on the LEDs
-     */
-    void leds(int val);
-
-    /** Locate the cursor on the 8x2 LCD
-     *
-     * @param x The horizontal position, from 0 to 7
-     * @param y The vertical position, from 0 to 1
-     */
-    void locate(int x, int y);
-
-    /** Clear the LCD
-     *
-     */
-    void cls(void);
-
-    /** Send a character directly to the 3pi serial interface
-     * @param c The character to send to the 3pi
-     */
-    int putc(int c);
-
-    /** Receive a character directly to the 3pi serial interface
-     * @returns c The character received from the 3pi
-     */
-    int getc();
-
-    /** Send a string buffer to the 3pi serial interface
-     * @param text A pointer to a char array
-     * @param int The character to send to the 3pi
-     */
-    int print(char* text, int length);
-
-#ifdef MBED_RPC
-    virtual const struct rpc_method *get_rpc_methods();
-#endif
-
-private :
-
-    DigitalOut _nrst;
-    Serial _ser;
-    
-    void motor (int motor, float speed);
-    virtual int _putc(int c);
-    virtual int _getc();
-
-};
-
-#endif
\ No newline at end of file