Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front. Run away strategy
Dependencies:
mbed
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m3pi Class Reference
m3pi control class
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#include <m3pi.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 the spesific pins.
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.
void get_raw_sensors (int *values)
Get the raw sensor values.
void get_calibrated_sensors (float *values)
Get the calibrated sensor values.
void get_white_levels ()
Records current levels as white, values used to detect a line.
int is_line ()
Gets the line state.
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:
#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 86 of file m3pi.h .
Constructor & Destructor Documentation
Create the m3pi object connected to the default pins.
Definition at line 32 of file m3pi.cpp .
m3pi
(
PinName
nrst ,
PinName
tx ,
PinName
rx
)
Create the m3pi object connected to the spesific pins.
Parameters:
nrst GPIO pin used for reset. Default is p23
tx Serial transmit pin. Default is p9
rx Serial receive pin. Default is p10
Definition at line 27 of file m3pi.cpp .
Member Function Documentation
void backward
(
float
speed )
Drive both motors backward as the same speed.
Parameters:
speed A normalised number 0 - 1.0 represents the full range.
Definition at line 58 of file m3pi.cpp .
Read the battery voltage on the 3pi.
Returns: battery voltage as a float
Definition at line 97 of file m3pi.cpp .
Set calibration manually to the current settings.
Definition at line 121 of file m3pi.cpp .
Clear the LCD.
Definition at line 163 of file m3pi.cpp .
void forward
(
float
speed )
Drive both motors forward as the same speed.
Parameters:
speed A normalised number 0 - 1.0 represents the full range.
Definition at line 53 of file m3pi.cpp .
void get_calibrated_sensors
(
float *
values )
Get the calibrated sensor values.
Parameters:
int* A pointer to an float array
Definition at line 188 of file m3pi.cpp .
void get_raw_sensors
(
int *
values )
Get the raw sensor values.
Parameters:
int* A pointer to a interger array
Definition at line 176 of file m3pi.cpp .
void get_white_levels
(
)
Records current levels as white, values used to detect a line.
Definition at line 198 of file m3pi.cpp .
Receive a character directly to the 3pi serial interface.
Returns: c The character received from the 3pi
Definition at line 258 of file m3pi.cpp .
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
Definition at line 202 of file m3pi.cpp .
Write to the 8 LEDs.
Parameters:
leds An 8 bit value to put on the LEDs
Definition at line 150 of file m3pi.cpp .
void left
(
float
speed )
Drive left motor backwards and right motor forwards at the same speed to turn on the spot.
Parameters:
speed A normalised number 0 - 1.0 represents the full range.
Definition at line 63 of file m3pi.cpp .
void left_motor
(
float
speed )
Directly control the speed and direction of the left motor.
Parameters:
speed A normalised number -1.0 - 1.0 represents the full range.
Definition at line 45 of file m3pi.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 105 of file m3pi.cpp .
void locate
(
int
x ,
int
y
)
Locate the cursor on the 8x2 LCD.
Parameters:
x The horizontal position, from 0 to 7
y The vertical position, from 0 to 1
Definition at line 157 of file m3pi.cpp .
float pot_voltage
(
void
)
Read the voltage of the potentiometer on the 3pi.
Returns: voltage as a float
Definition at line 141 of file m3pi.cpp .
int print
(
char *
text ,
int
length
)
Send a string buffer to the 3pi serial interface.
Parameters:
text A pointer to a char array
int The character to send to the 3pi
Definition at line 167 of file m3pi.cpp .
Send a character directly to the 3pi serial interface.
Parameters:
c The character to send to the 3pi
Definition at line 254 of file m3pi.cpp .
Force a hardware reset of the 3pi.
Definition at line 38 of file m3pi.cpp .
void reset_calibration
(
void
)
Clear the current calibration settings.
Definition at line 125 of file m3pi.cpp .
void right
(
float
speed )
Drive left motor forward and right motor backwards at the same speed to turn on the spot.
Parameters:
speed A normalised number 0 - 1.0 represents the full range.
Definition at line 68 of file m3pi.cpp .
void right_motor
(
float
speed )
Directly control the speed and direction of the right motor.
Parameters:
speed A normalised number -1.0 - 1.0 represents the full range.
Definition at line 49 of file m3pi.cpp .
char sensor_auto_calibrate
(
void
)
Calibrate the sensors.
This turns the robot left then right, looking for a line
Definition at line 115 of file m3pi.cpp .
Stop both motors.
Definition at line 73 of file m3pi.cpp .