Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front. Attack mid/near strategy
m3pi/m3pi.cpp@0:dda4072af5ff, 2012-06-18 (annotated)
- Committer:
- jonmarsh
- Date:
- Mon Jun 18 09:54:54 2012 +0000
- Revision:
- 0:dda4072af5ff
not tested
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jonmarsh | 0:dda4072af5ff | 1 | /* m3pi Library |
jonmarsh | 0:dda4072af5ff | 2 | * |
jonmarsh | 0:dda4072af5ff | 3 | * Copyright (c) 2007-2010 cstyles |
jonmarsh | 0:dda4072af5ff | 4 | * |
jonmarsh | 0:dda4072af5ff | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
jonmarsh | 0:dda4072af5ff | 6 | * of this software and associated documentation files (the "Software"), to deal |
jonmarsh | 0:dda4072af5ff | 7 | * in the Software without restriction, including without limitation the rights |
jonmarsh | 0:dda4072af5ff | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jonmarsh | 0:dda4072af5ff | 9 | * copies of the Software, and to permit persons to whom the Software is |
jonmarsh | 0:dda4072af5ff | 10 | * furnished to do so, subject to the following conditions: |
jonmarsh | 0:dda4072af5ff | 11 | * |
jonmarsh | 0:dda4072af5ff | 12 | * The above copyright notice and this permission notice shall be included in |
jonmarsh | 0:dda4072af5ff | 13 | * all copies or substantial portions of the Software. |
jonmarsh | 0:dda4072af5ff | 14 | * |
jonmarsh | 0:dda4072af5ff | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jonmarsh | 0:dda4072af5ff | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jonmarsh | 0:dda4072af5ff | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jonmarsh | 0:dda4072af5ff | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jonmarsh | 0:dda4072af5ff | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jonmarsh | 0:dda4072af5ff | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jonmarsh | 0:dda4072af5ff | 21 | * THE SOFTWARE. |
jonmarsh | 0:dda4072af5ff | 22 | */ |
jonmarsh | 0:dda4072af5ff | 23 | |
jonmarsh | 0:dda4072af5ff | 24 | #include "mbed.h" |
jonmarsh | 0:dda4072af5ff | 25 | #include "m3pi.h" |
jonmarsh | 0:dda4072af5ff | 26 | |
jonmarsh | 0:dda4072af5ff | 27 | m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) { |
jonmarsh | 0:dda4072af5ff | 28 | _ser.baud(115200); |
jonmarsh | 0:dda4072af5ff | 29 | reset(); |
jonmarsh | 0:dda4072af5ff | 30 | } |
jonmarsh | 0:dda4072af5ff | 31 | |
jonmarsh | 0:dda4072af5ff | 32 | m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) { |
jonmarsh | 0:dda4072af5ff | 33 | _ser.baud(115200); |
jonmarsh | 0:dda4072af5ff | 34 | reset(); |
jonmarsh | 0:dda4072af5ff | 35 | } |
jonmarsh | 0:dda4072af5ff | 36 | |
jonmarsh | 0:dda4072af5ff | 37 | |
jonmarsh | 0:dda4072af5ff | 38 | void m3pi::reset () { |
jonmarsh | 0:dda4072af5ff | 39 | _nrst = 0; |
jonmarsh | 0:dda4072af5ff | 40 | wait (0.01); |
jonmarsh | 0:dda4072af5ff | 41 | _nrst = 1; |
jonmarsh | 0:dda4072af5ff | 42 | wait (0.1); |
jonmarsh | 0:dda4072af5ff | 43 | } |
jonmarsh | 0:dda4072af5ff | 44 | |
jonmarsh | 0:dda4072af5ff | 45 | void m3pi::left_motor (float speed) { |
jonmarsh | 0:dda4072af5ff | 46 | motor(0,speed); |
jonmarsh | 0:dda4072af5ff | 47 | } |
jonmarsh | 0:dda4072af5ff | 48 | |
jonmarsh | 0:dda4072af5ff | 49 | void m3pi::right_motor (float speed) { |
jonmarsh | 0:dda4072af5ff | 50 | motor(1,speed); |
jonmarsh | 0:dda4072af5ff | 51 | } |
jonmarsh | 0:dda4072af5ff | 52 | |
jonmarsh | 0:dda4072af5ff | 53 | void m3pi::forward (float speed) { |
jonmarsh | 0:dda4072af5ff | 54 | motor(0,speed); |
jonmarsh | 0:dda4072af5ff | 55 | motor(1,speed); |
jonmarsh | 0:dda4072af5ff | 56 | } |
jonmarsh | 0:dda4072af5ff | 57 | |
jonmarsh | 0:dda4072af5ff | 58 | void m3pi::backward (float speed) { |
jonmarsh | 0:dda4072af5ff | 59 | motor(0,-1.0*speed); |
jonmarsh | 0:dda4072af5ff | 60 | motor(1,-1.0*speed); |
jonmarsh | 0:dda4072af5ff | 61 | } |
jonmarsh | 0:dda4072af5ff | 62 | |
jonmarsh | 0:dda4072af5ff | 63 | void m3pi::left (float speed) { |
jonmarsh | 0:dda4072af5ff | 64 | motor(0,speed); |
jonmarsh | 0:dda4072af5ff | 65 | motor(1,-1.0*speed); |
jonmarsh | 0:dda4072af5ff | 66 | } |
jonmarsh | 0:dda4072af5ff | 67 | |
jonmarsh | 0:dda4072af5ff | 68 | void m3pi::right (float speed) { |
jonmarsh | 0:dda4072af5ff | 69 | motor(0,-1.0*speed); |
jonmarsh | 0:dda4072af5ff | 70 | motor(1,speed); |
jonmarsh | 0:dda4072af5ff | 71 | } |
jonmarsh | 0:dda4072af5ff | 72 | |
jonmarsh | 0:dda4072af5ff | 73 | void m3pi::stop (void) { |
jonmarsh | 0:dda4072af5ff | 74 | motor(0,0.0); |
jonmarsh | 0:dda4072af5ff | 75 | motor(1,0.0); |
jonmarsh | 0:dda4072af5ff | 76 | } |
jonmarsh | 0:dda4072af5ff | 77 | |
jonmarsh | 0:dda4072af5ff | 78 | void m3pi::motor (int motor, float speed) { |
jonmarsh | 0:dda4072af5ff | 79 | char opcode = 0x0; |
jonmarsh | 0:dda4072af5ff | 80 | if (speed > 0.0) { |
jonmarsh | 0:dda4072af5ff | 81 | if (motor==1) |
jonmarsh | 0:dda4072af5ff | 82 | opcode = M1_FORWARD; |
jonmarsh | 0:dda4072af5ff | 83 | else |
jonmarsh | 0:dda4072af5ff | 84 | opcode = M2_FORWARD; |
jonmarsh | 0:dda4072af5ff | 85 | } else { |
jonmarsh | 0:dda4072af5ff | 86 | if (motor==1) |
jonmarsh | 0:dda4072af5ff | 87 | opcode = M1_BACKWARD; |
jonmarsh | 0:dda4072af5ff | 88 | else |
jonmarsh | 0:dda4072af5ff | 89 | opcode = M2_BACKWARD; |
jonmarsh | 0:dda4072af5ff | 90 | } |
jonmarsh | 0:dda4072af5ff | 91 | unsigned char arg = 0x7f * abs(speed); |
jonmarsh | 0:dda4072af5ff | 92 | |
jonmarsh | 0:dda4072af5ff | 93 | _ser.putc(opcode); |
jonmarsh | 0:dda4072af5ff | 94 | _ser.putc(arg); |
jonmarsh | 0:dda4072af5ff | 95 | } |
jonmarsh | 0:dda4072af5ff | 96 | |
jonmarsh | 0:dda4072af5ff | 97 | float m3pi::battery() { |
jonmarsh | 0:dda4072af5ff | 98 | _ser.putc(SEND_BATTERY_MILLIVOLTS); |
jonmarsh | 0:dda4072af5ff | 99 | char lowbyte = _ser.getc(); |
jonmarsh | 0:dda4072af5ff | 100 | char hibyte = _ser.getc(); |
jonmarsh | 0:dda4072af5ff | 101 | float v = ((lowbyte + (hibyte << 8))/1000.0); |
jonmarsh | 0:dda4072af5ff | 102 | return(v); |
jonmarsh | 0:dda4072af5ff | 103 | } |
jonmarsh | 0:dda4072af5ff | 104 | |
jonmarsh | 0:dda4072af5ff | 105 | float m3pi::line_position() { |
jonmarsh | 0:dda4072af5ff | 106 | int pos = 0; |
jonmarsh | 0:dda4072af5ff | 107 | _ser.putc(SEND_LINE_POSITION); |
jonmarsh | 0:dda4072af5ff | 108 | pos = _ser.getc(); |
jonmarsh | 0:dda4072af5ff | 109 | pos += _ser.getc() << 8; |
jonmarsh | 0:dda4072af5ff | 110 | |
jonmarsh | 0:dda4072af5ff | 111 | float fpos = ((float)pos - 2048.0)/2048.0; |
jonmarsh | 0:dda4072af5ff | 112 | return(fpos); |
jonmarsh | 0:dda4072af5ff | 113 | } |
jonmarsh | 0:dda4072af5ff | 114 | |
jonmarsh | 0:dda4072af5ff | 115 | char m3pi::sensor_auto_calibrate() { |
jonmarsh | 0:dda4072af5ff | 116 | _ser.putc(AUTO_CALIBRATE); |
jonmarsh | 0:dda4072af5ff | 117 | return(_ser.getc()); |
jonmarsh | 0:dda4072af5ff | 118 | } |
jonmarsh | 0:dda4072af5ff | 119 | |
jonmarsh | 0:dda4072af5ff | 120 | |
jonmarsh | 0:dda4072af5ff | 121 | void m3pi::calibrate(void) { |
jonmarsh | 0:dda4072af5ff | 122 | _ser.putc(PI_CALIBRATE); |
jonmarsh | 0:dda4072af5ff | 123 | } |
jonmarsh | 0:dda4072af5ff | 124 | |
jonmarsh | 0:dda4072af5ff | 125 | void m3pi::reset_calibration() { |
jonmarsh | 0:dda4072af5ff | 126 | _ser.putc(LINE_SENSORS_RESET_CALIBRATION); |
jonmarsh | 0:dda4072af5ff | 127 | } |
jonmarsh | 0:dda4072af5ff | 128 | |
jonmarsh | 0:dda4072af5ff | 129 | void m3pi::PID_start(int max_speed, int a, int b, int c, int d) { |
jonmarsh | 0:dda4072af5ff | 130 | _ser.putc(max_speed); |
jonmarsh | 0:dda4072af5ff | 131 | _ser.putc(a); |
jonmarsh | 0:dda4072af5ff | 132 | _ser.putc(b); |
jonmarsh | 0:dda4072af5ff | 133 | _ser.putc(c); |
jonmarsh | 0:dda4072af5ff | 134 | _ser.putc(d); |
jonmarsh | 0:dda4072af5ff | 135 | } |
jonmarsh | 0:dda4072af5ff | 136 | |
jonmarsh | 0:dda4072af5ff | 137 | void m3pi::PID_stop() { |
jonmarsh | 0:dda4072af5ff | 138 | _ser.putc(STOP_PID); |
jonmarsh | 0:dda4072af5ff | 139 | } |
jonmarsh | 0:dda4072af5ff | 140 | |
jonmarsh | 0:dda4072af5ff | 141 | float m3pi::pot_voltage(void) { |
jonmarsh | 0:dda4072af5ff | 142 | int volt = 0; |
jonmarsh | 0:dda4072af5ff | 143 | _ser.putc(SEND_TRIMPOT); |
jonmarsh | 0:dda4072af5ff | 144 | volt = _ser.getc(); |
jonmarsh | 0:dda4072af5ff | 145 | volt += _ser.getc() << 8; |
jonmarsh | 0:dda4072af5ff | 146 | return(volt); |
jonmarsh | 0:dda4072af5ff | 147 | } |
jonmarsh | 0:dda4072af5ff | 148 | |
jonmarsh | 0:dda4072af5ff | 149 | |
jonmarsh | 0:dda4072af5ff | 150 | void m3pi::leds(int val) { |
jonmarsh | 0:dda4072af5ff | 151 | |
jonmarsh | 0:dda4072af5ff | 152 | BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13); |
jonmarsh | 0:dda4072af5ff | 153 | _leds = val; |
jonmarsh | 0:dda4072af5ff | 154 | } |
jonmarsh | 0:dda4072af5ff | 155 | |
jonmarsh | 0:dda4072af5ff | 156 | |
jonmarsh | 0:dda4072af5ff | 157 | void m3pi::locate(int x, int y) { |
jonmarsh | 0:dda4072af5ff | 158 | _ser.putc(DO_LCD_GOTO_XY); |
jonmarsh | 0:dda4072af5ff | 159 | _ser.putc(x); |
jonmarsh | 0:dda4072af5ff | 160 | _ser.putc(y); |
jonmarsh | 0:dda4072af5ff | 161 | } |
jonmarsh | 0:dda4072af5ff | 162 | |
jonmarsh | 0:dda4072af5ff | 163 | void m3pi::cls(void) { |
jonmarsh | 0:dda4072af5ff | 164 | _ser.putc(DO_CLEAR); |
jonmarsh | 0:dda4072af5ff | 165 | } |
jonmarsh | 0:dda4072af5ff | 166 | |
jonmarsh | 0:dda4072af5ff | 167 | int m3pi::print (char* text, int length) { |
jonmarsh | 0:dda4072af5ff | 168 | _ser.putc(DO_PRINT); |
jonmarsh | 0:dda4072af5ff | 169 | _ser.putc(length); |
jonmarsh | 0:dda4072af5ff | 170 | for (int i = 0 ; i < length ; i++) { |
jonmarsh | 0:dda4072af5ff | 171 | _ser.putc(text[i]); |
jonmarsh | 0:dda4072af5ff | 172 | } |
jonmarsh | 0:dda4072af5ff | 173 | return(0); |
jonmarsh | 0:dda4072af5ff | 174 | } |
jonmarsh | 0:dda4072af5ff | 175 | |
jonmarsh | 0:dda4072af5ff | 176 | void m3pi::get_raw_sensors(int* values) { |
jonmarsh | 0:dda4072af5ff | 177 | _ser.putc(SEND_RAW_SENSOR_VALUES); |
jonmarsh | 0:dda4072af5ff | 178 | for (int i = 0; i<5; i++) { |
jonmarsh | 0:dda4072af5ff | 179 | while(_ser.readable() == 0){} |
jonmarsh | 0:dda4072af5ff | 180 | values[i] = _ser.getc(); |
jonmarsh | 0:dda4072af5ff | 181 | while(_ser.readable() == 0){} |
jonmarsh | 0:dda4072af5ff | 182 | values[i] += _ser.getc() << 8; |
jonmarsh | 0:dda4072af5ff | 183 | //values[i] -= raw_white_levels[i]; |
jonmarsh | 0:dda4072af5ff | 184 | } |
jonmarsh | 0:dda4072af5ff | 185 | } |
jonmarsh | 0:dda4072af5ff | 186 | |
jonmarsh | 0:dda4072af5ff | 187 | |
jonmarsh | 0:dda4072af5ff | 188 | void m3pi::get_calibrated_sensors(float* values) { |
jonmarsh | 0:dda4072af5ff | 189 | int temp[5]; |
jonmarsh | 0:dda4072af5ff | 190 | _ser.putc(SEND_CALIBRATED_SENSOR_VALUES); |
jonmarsh | 0:dda4072af5ff | 191 | for (int i = 0; i<5; i++) { |
jonmarsh | 0:dda4072af5ff | 192 | temp[i] = _ser.getc(); |
jonmarsh | 0:dda4072af5ff | 193 | temp[i] += _ser.getc() << 8; |
jonmarsh | 0:dda4072af5ff | 194 | values[i] = float(temp[i]) / 1000; |
jonmarsh | 0:dda4072af5ff | 195 | } |
jonmarsh | 0:dda4072af5ff | 196 | } |
jonmarsh | 0:dda4072af5ff | 197 | |
jonmarsh | 0:dda4072af5ff | 198 | void m3pi::get_white_levels() { |
jonmarsh | 0:dda4072af5ff | 199 | get_raw_sensors(raw_white_levels); |
jonmarsh | 0:dda4072af5ff | 200 | } |
jonmarsh | 0:dda4072af5ff | 201 | |
jonmarsh | 0:dda4072af5ff | 202 | int m3pi::is_line() |
jonmarsh | 0:dda4072af5ff | 203 | { |
jonmarsh | 0:dda4072af5ff | 204 | int ret = 0; |
jonmarsh | 0:dda4072af5ff | 205 | int edgeCount = 0; |
jonmarsh | 0:dda4072af5ff | 206 | int temp[5]; |
jonmarsh | 0:dda4072af5ff | 207 | get_raw_sensors(temp); |
jonmarsh | 0:dda4072af5ff | 208 | for(int i = 0; i <5 ; i++) |
jonmarsh | 0:dda4072af5ff | 209 | { |
jonmarsh | 0:dda4072af5ff | 210 | if(temp[i] - raw_white_levels[i]>= LINE_THRESHOLD) |
jonmarsh | 0:dda4072af5ff | 211 | { |
jonmarsh | 0:dda4072af5ff | 212 | ret++; |
jonmarsh | 0:dda4072af5ff | 213 | if(i == 0|| i== 4) |
jonmarsh | 0:dda4072af5ff | 214 | { |
jonmarsh | 0:dda4072af5ff | 215 | edgeCount--; |
jonmarsh | 0:dda4072af5ff | 216 | } |
jonmarsh | 0:dda4072af5ff | 217 | else |
jonmarsh | 0:dda4072af5ff | 218 | { |
jonmarsh | 0:dda4072af5ff | 219 | edgeCount++; |
jonmarsh | 0:dda4072af5ff | 220 | } |
jonmarsh | 0:dda4072af5ff | 221 | } |
jonmarsh | 0:dda4072af5ff | 222 | |
jonmarsh | 0:dda4072af5ff | 223 | } |
jonmarsh | 0:dda4072af5ff | 224 | |
jonmarsh | 0:dda4072af5ff | 225 | if(edgeCount >=0 && ret>0) |
jonmarsh | 0:dda4072af5ff | 226 | { |
jonmarsh | 0:dda4072af5ff | 227 | return 1; |
jonmarsh | 0:dda4072af5ff | 228 | } |
jonmarsh | 0:dda4072af5ff | 229 | else if(edgeCount <0 && ret>0) |
jonmarsh | 0:dda4072af5ff | 230 | { |
jonmarsh | 0:dda4072af5ff | 231 | return -1; |
jonmarsh | 0:dda4072af5ff | 232 | } |
jonmarsh | 0:dda4072af5ff | 233 | else |
jonmarsh | 0:dda4072af5ff | 234 | { |
jonmarsh | 0:dda4072af5ff | 235 | return 0; |
jonmarsh | 0:dda4072af5ff | 236 | } |
jonmarsh | 0:dda4072af5ff | 237 | |
jonmarsh | 0:dda4072af5ff | 238 | |
jonmarsh | 0:dda4072af5ff | 239 | } |
jonmarsh | 0:dda4072af5ff | 240 | |
jonmarsh | 0:dda4072af5ff | 241 | int m3pi::_putc (int c) { |
jonmarsh | 0:dda4072af5ff | 242 | _ser.putc(DO_PRINT); |
jonmarsh | 0:dda4072af5ff | 243 | _ser.putc(0x1); |
jonmarsh | 0:dda4072af5ff | 244 | _ser.putc(c); |
jonmarsh | 0:dda4072af5ff | 245 | wait (0.001); |
jonmarsh | 0:dda4072af5ff | 246 | return(c); |
jonmarsh | 0:dda4072af5ff | 247 | } |
jonmarsh | 0:dda4072af5ff | 248 | |
jonmarsh | 0:dda4072af5ff | 249 | int m3pi::_getc (void) { |
jonmarsh | 0:dda4072af5ff | 250 | char r = 0; |
jonmarsh | 0:dda4072af5ff | 251 | return(r); |
jonmarsh | 0:dda4072af5ff | 252 | } |
jonmarsh | 0:dda4072af5ff | 253 | |
jonmarsh | 0:dda4072af5ff | 254 | int m3pi::putc (int c) { |
jonmarsh | 0:dda4072af5ff | 255 | return(_ser.putc(c)); |
jonmarsh | 0:dda4072af5ff | 256 | } |
jonmarsh | 0:dda4072af5ff | 257 | |
jonmarsh | 0:dda4072af5ff | 258 | int m3pi::getc (void) { |
jonmarsh | 0:dda4072af5ff | 259 | return(_ser.getc()); |
jonmarsh | 0:dda4072af5ff | 260 | } |
jonmarsh | 0:dda4072af5ff | 261 | |
jonmarsh | 0:dda4072af5ff | 262 | |
jonmarsh | 0:dda4072af5ff | 263 | |
jonmarsh | 0:dda4072af5ff | 264 | |
jonmarsh | 0:dda4072af5ff | 265 | |
jonmarsh | 0:dda4072af5ff | 266 | #ifdef MBED_RPC |
jonmarsh | 0:dda4072af5ff | 267 | const rpc_method *m3pi::get_rpc_methods() { |
jonmarsh | 0:dda4072af5ff | 268 | static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> }, |
jonmarsh | 0:dda4072af5ff | 269 | { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> }, |
jonmarsh | 0:dda4072af5ff | 270 | { "left", rpc_method_caller<m3pi, float, &m3pi::left> }, |
jonmarsh | 0:dda4072af5ff | 271 | { "right", rpc_method_caller<m3pi, float, &m3pi::right> }, |
jonmarsh | 0:dda4072af5ff | 272 | { "stop", rpc_method_caller<m3pi, &m3pi::stop> }, |
jonmarsh | 0:dda4072af5ff | 273 | { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> }, |
jonmarsh | 0:dda4072af5ff | 274 | { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> }, |
jonmarsh | 0:dda4072af5ff | 275 | { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> }, |
jonmarsh | 0:dda4072af5ff | 276 | { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> }, |
jonmarsh | 0:dda4072af5ff | 277 | { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> }, |
jonmarsh | 0:dda4072af5ff | 278 | |
jonmarsh | 0:dda4072af5ff | 279 | |
jonmarsh | 0:dda4072af5ff | 280 | RPC_METHOD_SUPER(Base) |
jonmarsh | 0:dda4072af5ff | 281 | }; |
jonmarsh | 0:dda4072af5ff | 282 | return rpc_methods; |
jonmarsh | 0:dda4072af5ff | 283 | } |
jonmarsh | 0:dda4072af5ff | 284 | #endif |