Thomas Glatzel / m3pi_ng

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Dependents:   newlib PID Robot WarehouseBot1 ... more

Fork of m3pi_ng by Nikolas Goldin

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m3pi Class Reference
Public Member Functions

m3pi Class Reference

m3pi control class More...

#include <m3pi_ng.h>

Public Member Functions

 m3pi ()
 Create the m3pi object connected to the default pins.
 m3pi (PinName nrst, PinName tx, PinName rx)
 Create the m3pi object connected to specific pins.
void signature (char *)
 Get the signature needs a length 6 char array to write into.
void raw_sensor (int *)
 Get the raw sensor values needs a int[5] array to write into.
void calibrated_sensor (int *)
 Get the calibrated sensor values needs a int[5] array to write into.
void playtune (char *text, int length)
 Play music using the buzzer.
void reset (void)
 Force a hardware reset of the 3pi.
void left_motor (float speed)
 Directly control the speed and direction of the left motor.
void right_motor (float speed)
 Directly control the speed and direction of the right motor.
void forward (float speed)
 Drive both motors forward as the same speed.
void backward (float speed)
 Drive both motors backward as the same speed.
void left (float speed)
 Drive left motor backwards and right motor forwards at the same speed to turn on the spot.
void right (float speed)
 Drive left motor forward and right motor backwards at the same speed to turn on the spot.
void stop (void)
 Stop both motors.
float pot_voltage (void)
 Read the voltage of the potentiometer on the 3pi.
float battery (void)
 Read the battery voltage on the 3pi.
float line_position (void)
 Read the position of the detected line.
char sensor_auto_calibrate (void)
 Calibrate the sensors.
void calibrate (void)
 Set calibration manually to the current settings.
void reset_calibration (void)
 Clear the current calibration settings.
void leds (int val)
 Write to the 8 LEDs.
void locate (int x, int y)
 Locate the cursor on the 8x2 LCD.
void cls (void)
 Clear the LCD.
int putc (int c)
 Send a character directly to the 3pi serial interface.
int getc ()
 Receive a character directly to the 3pi serial interface.
int print (char *text, int length)
 Send a string buffer to the 3pi serial interface.

Detailed Description

m3pi control class

Example: 

 // 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();

 }

Definition at line 88 of file m3pi_ng.h.

Constructor & Destructor Documentation

m3pi (  )

Create the m3pi object connected to the default pins.

Parameters:
nrstGPIO pin used for reset. Default is p23
txSerial transmit pin. Default is p9
rxSerial receive pin. Default is p10

Definition at line 35 of file m3pi_ng.cpp.

m3pi ( PinName  nrst,
PinName  tx,
PinName  rx 
)

Create the m3pi object connected to specific pins.

Definition at line 30 of file m3pi_ng.cpp.

Member Function Documentation

void backward ( float  speed )

Drive both motors backward as the same speed.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 96 of file m3pi_ng.cpp.

float battery ( void   )

Read the battery voltage on the 3pi.

Returns:
battery voltage as a float

Definition at line 152 of file m3pi_ng.cpp.

void calibrate ( void   )

Set calibration manually to the current settings.

Definition at line 176 of file m3pi_ng.cpp.

void calibrated_sensor ( int *  cal )

Get the calibrated sensor values needs a int[5] array to write into.

Definition at line 58 of file m3pi_ng.cpp.

void cls ( void   )

Clear the LCD.

Definition at line 218 of file m3pi_ng.cpp.

void forward ( float  speed )

Drive both motors forward as the same speed.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 91 of file m3pi_ng.cpp.

int getc ( void   )

Receive a character directly to the 3pi serial interface.

Returns:
c The character received from the 3pi

Definition at line 248 of file m3pi_ng.cpp.

void leds ( int  val )

Write to the 8 LEDs.

Parameters:
ledsAn 8 bit value to put on the LEDs

Definition at line 205 of file m3pi_ng.cpp.

void left ( float  speed )

Drive left motor backwards and right motor forwards at the same speed to turn on the spot.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 101 of file m3pi_ng.cpp.

void left_motor ( float  speed )

Directly control the speed and direction of the left motor.

Parameters:
speedA normalised number -1.0 - 1.0 represents the full range.

Definition at line 83 of file m3pi_ng.cpp.

float line_position ( 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

Definition at line 160 of file m3pi_ng.cpp.

void locate ( int  x,
int  y 
)

Locate the cursor on the 8x2 LCD.

Parameters:
xThe horizontal position, from 0 to 7
yThe vertical position, from 0 to 1

Definition at line 212 of file m3pi_ng.cpp.

void playtune ( char *  text,
int  length 
)

Play music using the buzzer.

Definition at line 68 of file m3pi_ng.cpp.

float pot_voltage ( void   )

Read the voltage of the potentiometer on the 3pi.

Returns:
voltage as a float

Definition at line 196 of file m3pi_ng.cpp.

int print ( char *  text,
int  length 
)

Send a string buffer to the 3pi serial interface.

Parameters:
textA pointer to a char array
intThe character to send to the 3pi

Definition at line 222 of file m3pi_ng.cpp.

int putc ( int  c )

Send a character directly to the 3pi serial interface.

Parameters:
cThe character to send to the 3pi

Definition at line 244 of file m3pi_ng.cpp.

void raw_sensor ( int *  raw )

Get the raw sensor values needs a int[5] array to write into.

Definition at line 48 of file m3pi_ng.cpp.

void reset ( void   )

Force a hardware reset of the 3pi.

Definition at line 76 of file m3pi_ng.cpp.

void reset_calibration ( void   )

Clear the current calibration settings.

Definition at line 180 of file m3pi_ng.cpp.

void right ( float  speed )

Drive left motor forward and right motor backwards at the same speed to turn on the spot.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 106 of file m3pi_ng.cpp.

void right_motor ( float  speed )

Directly control the speed and direction of the right motor.

Parameters:
speedA normalised number -1.0 - 1.0 represents the full range.

Definition at line 87 of file m3pi_ng.cpp.

char sensor_auto_calibrate ( void   )

Calibrate the sensors.

This turns the robot left then right, looking for a line

Definition at line 170 of file m3pi_ng.cpp.

void signature ( char *  sig )

Get the signature needs a length 6 char array to write into.

Definition at line 41 of file m3pi_ng.cpp.

void stop ( void   )

Stop both motors.

Definition at line 111 of file m3pi_ng.cpp.

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