Library for the m3pi robot. This works with a Pololu 3pi robot with the Serial Slave firmware, and exposes and API.
Fork of m3pi by
Diff: m3pi.cpp
- Revision:
- 9:e0904a2c1bc0
- Parent:
- 7:9b128cebb3c2
--- a/m3pi.cpp Thu May 12 13:26:37 2011 +0000 +++ b/m3pi.cpp Wed Nov 23 09:00:13 2016 +0000 @@ -20,61 +20,61 @@ * 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(1,speed); +} + +void m3pi::right_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) { @@ -89,11 +89,11 @@ 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(); @@ -101,7 +101,7 @@ float v = ((lowbyte + (hibyte << 8))/1000.0); return(v); } - + float m3pi::line_position() { int pos = 0; _ser.putc(SEND_LINE_POSITION); @@ -111,21 +111,30 @@ float fpos = ((float)pos - 2048.0)/2048.0; return(fpos); } - + +void m3pi::calibrated_sensors(unsigned short ltab[5]) { + unsigned i; + _ser.putc(SEND_CALIB_SENSOR_VALUES); + for(i=0;i<5;i++){ + ltab[i] = (unsigned short) _ser.getc(); + ltab[i] += _ser.getc() << 8; + } +} + 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); @@ -133,11 +142,11 @@ _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); @@ -145,25 +154,25 @@ 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); @@ -172,7 +181,7 @@ } return(0); } - + int m3pi::_putc (int c) { _ser.putc(DO_PRINT); _ser.putc(0x1); @@ -180,24 +189,24 @@ 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> }, @@ -210,10 +219,10 @@ { "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 +#endif \ No newline at end of file