Revision 9:deb9547909c3, committed 2013-05-13

Comitter:

ngoldin

Date:

Mon May 13 10:54:18 2013 +0000

Parent:

8:4b7d6ea9b35b

Child:

10:f89d2a3a9ed2

Commit message:

added read out calibrated sensors function

Changed in this revision

--- a/m3pi.cpp	Thu May 12 13:26:37 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,219 +0,0 @@
-/* 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.
- */
-
-#include "mbed.h"
-#include "m3pi.h"
-
-m3pi::m3pi(PinName nrst, PinName tx, PinName rx) :  Stream("m3pi"), _nrst(nrst), _ser(tx, rx)  {
-    _ser.baud(115200);
-    reset();
-}
-
-m3pi::m3pi() :  Stream("m3pi"), _nrst(p23), _ser(p9, p10)  {
-    _ser.baud(115200);
-    reset();
-}
-
-
-void m3pi::reset () {
-    _nrst = 0;
-    wait (0.01);
-    _nrst = 1;
-    wait (0.1);
-}
-
-void m3pi::left_motor (float speed) {
-    motor(0,speed);
-}
-
-void m3pi::right_motor (float speed) {
-    motor(1,speed);
-}
-
-void m3pi::forward (float speed) {
-    motor(0,speed);
-    motor(1,speed);
-}
-
-void m3pi::backward (float speed) {
-    motor(0,-1.0*speed);
-    motor(1,-1.0*speed);
-}
-
-void m3pi::left (float speed) {
-    motor(0,speed);
-    motor(1,-1.0*speed);
-}
-
-void m3pi::right (float speed) {
-    motor(0,-1.0*speed);
-    motor(1,speed);
-}
-
-void m3pi::stop (void) {
-    motor(0,0.0);
-    motor(1,0.0);
-}
-
-void m3pi::motor (int motor, float speed) {
-    char opcode = 0x0;
-    if (speed > 0.0) {
-        if (motor==1)
-            opcode = M1_FORWARD;
-        else
-            opcode = M2_FORWARD;
-    } else {
-        if (motor==1)
-            opcode = M1_BACKWARD;
-        else
-            opcode = M2_BACKWARD;
-    }
-    unsigned char arg = 0x7f * abs(speed);
-
-    _ser.putc(opcode);
-    _ser.putc(arg);
-}
-
-float m3pi::battery() {
-    _ser.putc(SEND_BATTERY_MILLIVOLTS);
-    char lowbyte = _ser.getc();
-    char hibyte  = _ser.getc();
-    float v = ((lowbyte + (hibyte << 8))/1000.0);
-    return(v);
-}
-
-float m3pi::line_position() {
-    int pos = 0;
-    _ser.putc(SEND_LINE_POSITION);
-    pos = _ser.getc();
-    pos += _ser.getc() << 8;
-    
-    float fpos = ((float)pos - 2048.0)/2048.0;
-    return(fpos);
-}
-
-char m3pi::sensor_auto_calibrate() {
-    _ser.putc(AUTO_CALIBRATE);
-    return(_ser.getc());
-}
-
-
-void m3pi::calibrate(void) {
-    _ser.putc(PI_CALIBRATE);
-}
-
-void m3pi::reset_calibration() {
-    _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
-}
-
-void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
-    _ser.putc(max_speed);
-    _ser.putc(a);
-    _ser.putc(b);
-    _ser.putc(c);
-    _ser.putc(d);
-}
-
-void m3pi::PID_stop() {
-    _ser.putc(STOP_PID);
-}
-
-float m3pi::pot_voltage(void) {
-    int volt = 0;
-    _ser.putc(SEND_TRIMPOT);
-    volt = _ser.getc();
-    volt += _ser.getc() << 8;
-    return(volt);
-}
-
-
-void m3pi::leds(int val) {
-
-    BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
-    _leds = val;
-}
-
-
-void m3pi::locate(int x, int y) {
-    _ser.putc(DO_LCD_GOTO_XY);
-    _ser.putc(x);
-    _ser.putc(y);
-}
-
-void m3pi::cls(void) {
-    _ser.putc(DO_CLEAR);
-}
-
-int m3pi::print (char* text, int length) {
-    _ser.putc(DO_PRINT);  
-    _ser.putc(length);       
-    for (int i = 0 ; i < length ; i++) {
-        _ser.putc(text[i]); 
-    }
-    return(0);
-}
-
-int m3pi::_putc (int c) {
-    _ser.putc(DO_PRINT);  
-    _ser.putc(0x1);       
-    _ser.putc(c);         
-    wait (0.001);
-    return(c);
-}
-
-int m3pi::_getc (void) {
-    char r = 0;
-    return(r);
-}
-
-int m3pi::putc (int c) {
-    return(_ser.putc(c));
-}
-
-int m3pi::getc (void) {
-    return(_ser.getc());
-}
-
-
-
-
-
-#ifdef MBED_RPC
-const rpc_method *m3pi::get_rpc_methods() {
-    static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
-        { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
-        { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
-        { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
-        { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
-        { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
-        { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
-        { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
-        { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
-        { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
-
-
-        RPC_METHOD_SUPER(Base)
-    };
-    return rpc_methods;
-}
-#endif

--- 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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/m3pi_ng.cpp	Mon May 13 10:54:18 2013 +0000
@@ -0,0 +1,263 @@
+/* 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.
+ *
+ * This is a modified version of the library. Modifications by ngoldin, 2013
+ *
+ */
+
+#include "mbed.h"
+#include "m3pi_ng.h"
+
+m3pi::m3pi(PinName nrst, PinName tx, PinName rx) :  Stream("m3pi"), _nrst(nrst), _ser(tx, rx)  {
+    _ser.baud(115200);
+    reset();
+}
+
+m3pi::m3pi() :  Stream("m3pi"), _nrst(p23), _ser(p9, p10)  {
+    _ser.baud(115200);
+    reset();
+}
+
+
+char * m3pi::signature () {
+    char* sig = new char[6]; //must be initialised with new, else it is destroyed when the function exits
+    _ser.putc(SEND_SIGNATURE);
+    for (int i=0; i<6;i++){
+        sig[i]=_ser.getc();
+    }
+    return sig;
+}
+
+int * m3pi::raw_sensor () {
+    _ser.putc(SEND_RAW_SENSOR_VALUES);
+    int* raw = new int[5]; //must be initialised with new, else it is destroyed when the function exits
+    for (int i=0; i<5; i++){
+        char lowbyte = _ser.getc();
+        char hibyte  = _ser.getc();
+        int s = (lowbyte + (hibyte << 8));
+        raw[i] = s;
+    }
+    return(raw);
+}
+
+int * m3pi::calibrated_sensor () {
+    _ser.putc(SEND_CALIBRATED_SENSOR_VALUES);
+    int* cal = new int[5]; //must be initialised with new, else it is destroyed when the function exits
+    for (int i=0; i<5; i++){
+        char lowbyte = _ser.getc();
+        char hibyte  = _ser.getc();
+        int s = (lowbyte + (hibyte << 8));
+        cal[i] = s;
+    }
+    return(cal);
+}
+
+void m3pi::playtune (char* text, int length) {
+    _ser.putc(DO_PLAY);  
+    _ser.putc(length);       
+    for (int i = 0 ; i < length ; i++) {
+        _ser.putc(text[i]); 
+    }
+}
+
+void m3pi::reset () {
+    _nrst = 0;
+    wait (0.01);
+    _nrst = 1;
+    wait (0.1);
+}
+
+void m3pi::left_motor (float speed) {
+    motor(0,speed);
+}
+
+void m3pi::right_motor (float speed) {
+    motor(1,speed);
+}
+
+void m3pi::forward (float speed) {
+    motor(0,speed);
+    motor(1,speed);
+}
+
+void m3pi::backward (float speed) {
+    motor(0,-1.0*speed);
+    motor(1,-1.0*speed);
+}
+
+void m3pi::left (float speed) {
+    motor(0,speed);
+    motor(1,-1.0*speed);
+}
+
+void m3pi::right (float speed) {
+    motor(0,-1.0*speed);
+    motor(1,speed);
+}
+
+void m3pi::stop (void) {
+    motor(0,0.0);
+    motor(1,0.0);
+}
+
+void m3pi::motor (int motor, float speed) {
+    char opcode = 0x0;
+    if (speed > 0.0) {
+        if (motor==1)
+            opcode = M1_FORWARD;
+        else
+            opcode = M2_FORWARD;
+    } else {
+        if (motor==1)
+            opcode = M1_BACKWARD;
+        else
+            opcode = M2_BACKWARD;
+    }
+    unsigned char arg = 0x7f * fabs(speed);
+
+    _ser.putc(opcode);
+    _ser.putc(arg);
+}
+
+float m3pi::battery() {
+    _ser.putc(SEND_BATTERY_MILLIVOLTS);
+    char lowbyte = _ser.getc();
+    char hibyte  = _ser.getc();
+    float v = ((lowbyte + (hibyte << 8))/1000.0);
+    return(v);
+}
+
+float m3pi::line_position() {
+    int pos = 0;
+    _ser.putc(SEND_LINE_POSITION);
+    pos = _ser.getc();
+    pos += _ser.getc() << 8;
+    
+    float fpos = ((float)pos - 2048.0)/2048.0;
+    return(fpos);
+}
+
+char m3pi::sensor_auto_calibrate() {
+    _ser.putc(AUTO_CALIBRATE);
+    return(_ser.getc());
+}
+
+
+void m3pi::calibrate(void) {
+    _ser.putc(PI_CALIBRATE);
+}
+
+void m3pi::reset_calibration() {
+    _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
+}
+
+void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
+    _ser.putc(max_speed);
+    _ser.putc(a);
+    _ser.putc(b);
+    _ser.putc(c);
+    _ser.putc(d);
+}
+
+void m3pi::PID_stop() {
+    _ser.putc(STOP_PID);
+}
+
+float m3pi::pot_voltage(void) {
+    int volt = 0;
+    _ser.putc(SEND_TRIMPOT);
+    volt = _ser.getc();
+    volt += _ser.getc() << 8;
+    return(volt);
+}
+
+
+void m3pi::leds(int val) {
+
+    BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
+    _leds = val;
+}
+
+
+void m3pi::locate(int x, int y) {
+    _ser.putc(DO_LCD_GOTO_XY);
+    _ser.putc(x);
+    _ser.putc(y);
+}
+
+void m3pi::cls(void) {
+    _ser.putc(DO_CLEAR);
+}
+
+int m3pi::print (char* text, int length) {
+    _ser.putc(DO_PRINT);  
+    _ser.putc(length);       
+    for (int i = 0 ; i < length ; i++) {
+        _ser.putc(text[i]); 
+    }
+    return(0);
+}
+
+int m3pi::_putc (int c) {
+    _ser.putc(DO_PRINT);  
+    _ser.putc(0x1);       
+    _ser.putc(c);         
+    wait (0.001);
+    return(c);
+}
+
+int m3pi::_getc (void) {
+    char r = 0;
+    return(r);
+}
+
+int m3pi::putc (int c) {
+    return(_ser.putc(c));
+}
+
+int m3pi::getc (void) {
+    return(_ser.getc());
+}
+
+
+
+
+
+#ifdef MBED_RPC
+const rpc_method *m3pi::get_rpc_methods() {
+    static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
+        { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
+        { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
+        { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
+        { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
+        { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
+        { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
+        { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
+        { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
+        { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
+
+
+        RPC_METHOD_SUPER(Base)
+    };
+    return rpc_methods;
+}
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/m3pi_ng.h	Mon May 13 10:54:18 2013 +0000
@@ -0,0 +1,256 @@
+/* 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.
+ *
+ * This is a modified version of the library. Modifications by ngoldin, 2013
+ * These are raw_sensor(), calibrated_sensor(), signature() and a bugfix in motor()
+ *
+ */
+
+#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_CALIBRATED_SENSOR_VALUES 0x87
+#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);
+
+    /** Get the signature 
+        returns length 6 char array
+     */
+    char * signature (void);
+
+    /** Get the raw sensor values
+    */
+    int * raw_sensor (void);
+
+    /** Get the calibrated sensor values
+    */
+    int * calibrated_sensor (void);
+   
+    /** Play music using the buzzer
+     */
+    void playtune (char* text, int length);
+
+    /** 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