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Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front. Run away strategy
m3pi/m3pi.h
- Committer:
- jonmarsh
- Date:
- 2012-06-18
- Revision:
- 0:11d0f3e0d1ad
File content as of revision 0:11d0f3e0d1ad:
/* 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_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 #define LINE_THRESHOLD 100 /** 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 * */ m3pi(); /** Create the m3pi object connected to the spesific 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(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); /** Get the raw sensor values * * @param int* A pointer to a interger array */ void get_raw_sensors(int* values); /** Get the calibrated sensor values * * @param int* A pointer to an float array */ void get_calibrated_sensors(float* values); /** Records current levels as white, values used to detect a line * */ void get_white_levels(); /** Gets the line state * * @returns The line status: 0 means no line, -1 means line at back two sensors, 1 means line at front sensors */ int is_line(); /** 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(); int raw_white_levels[5]; }; #endif