Diff: m3pi.h

Revision:

9:e0904a2c1bc0

Parent:

8:4b7d6ea9b35b

--- a/m3pi.h	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.h	Wed Nov 23 09:00:13 2016 +0000
@@ -19,19 +19,20 @@
  * 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_CALIB_SENSOR_VALUES 0x87
 #define SEND_TRIMPOT 0xB0
 #define SEND_BATTERY_MILLIVOLTS 0xB1
 #define DO_PLAY 0xB3
@@ -48,24 +49,24 @@
 #define M1_BACKWARD 0xC2
 #define M2_FORWARD 0xC5
 #define M2_BACKWARD 0xC6
-
-
-
+ 
+ 
+ 
 /** 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);
@@ -74,17 +75,17 @@
      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
      *
      * @param nrst GPIO pin used for reset. Default is p23
@@ -92,70 +93,70 @@
      * @param rx Serial receive pin. Default is p10
      */
     m3pi();
-
-
+ 
+ 
     /** Create the m3pi object connected to specific pins
      *
      */
     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
@@ -163,74 +164,79 @@
      *   1.0 means the line is on the right
      */
     float line_position (void);
-
-
+    /** lecture capteurs calibres
+    * @returns tableau val capteurs de gauche à droite 
+    *  0 blanc (reflexion max)
+    *  1000 noir (pas de reflexion)
+    */
+    void calibrated_sensors(unsigned short ltab[5]);
+ 
     /** 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();
-
+ 
 };
-
+ 
 #endif
\ No newline at end of file