m3pi.h

00001 #ifndef M3PI_H
00002 #define M3PI_H
00003 
00004 #include "mbed.h"
00005 #include "platform.h"
00006 
00007 #ifdef MBED_RPC
00008 #include "rpc.h"
00009 #endif
00010 
00011 #define SEND_RAW_SENSOR_VALUES 0x86
00012 #define SEND_CALIBRATED_SENSOR_VALUES 0x87
00013 #define SEND_BATTERY_MILLIVOLTS 0xB1
00014 #define DO_PRINT 0xB8
00015 #define M1_FORWARD 0xC1
00016 #define M1_BACKWARD 0xC2
00017 #define M2_FORWARD 0xC5
00018 #define M2_BACKWARD 0xC6
00019 #define AUTO_CALIBRATE 0xBA
00020 
00021 namespace physcom {
00022 
00023 /** m3pi control class
00024  *
00025  */
00026 class M3pi :  public Stream {
00027     
00028 private:
00029     float m1_speed;
00030     float m2_speed;
00031 
00032     // Public functions
00033 public:
00034 
00035     /** Create the m3pi object connected to the default pins
00036      *
00037      * @param nrst GPIO pin used for reset. Default is p23
00038      * @param tx Serial transmit pin. Default is p9
00039      * @param rx Serial receive pin. Default is p10
00040      */
00041     M3pi();
00042 
00043     /** Create the m3pi object connected to specific pins
00044      *
00045      */
00046     M3pi(PinName nrst, PinName tx, PinName rx);
00047 
00048     /** Force a hardware reset of the 3pi
00049      */
00050     void reset (void);
00051     
00052     
00053     /** This function will smoothly stop the motors of the robot by gradually 
00054      * slowing down.
00055      * Contributed by Menno Vermeulen and Daniel Trujillo
00056      */
00057     void stop();
00058     
00059     /** Activate motor
00060      * @param motor. Values: 0: Left; 1: Right
00061      * @param speed Float value representing the speed of the motor. Negative 
00062      * values will turn the wheels in reverse. The possible values of this 
00063      * parameter range between -1 and 1. The values are normalized, so speed=1 
00064      * means the motor will activate at full (100%) power, while speed=0.2 would
00065      * activate the motor with 20% of its maximum power.
00066      * A good starting value can be speed=0.1. In most cases the speed value you 
00067      * will use should be between -0.5 and 0.5. 
00068      */
00069     void activate_motor (int motor, float speed);
00070 
00071     /** Reads the values of the active light sensors
00072      * @param sensors Array of 5 int elements that will be populated with
00073      * the sensor values
00074      */
00075     void raw_sensors (int sensors[5]);
00076 
00077     /** Reads the values of the active light sensors. The result values are 
00078      * normalized in the range 0-1000 based on the calibration. The function
00079      * sensor_auto_calibrate() should be called once at the start of the program
00080      * before reading the calibrated values. 
00081      *  
00082      * @param sensors Array of 5 int elements that will be populated with
00083      * the sensor values
00084      */
00085     void calibrated_sensors (int sensors[5]);
00086 
00087     /** Read the battery voltage on the 3pi
00088      * @returns battery voltage as a float
00089      */
00090     float battery(void);
00091     
00092     
00093     /** Calibrate the sensors. This turns the robot left then right, 
00094      * looking for a line. Make sure that when this function is called, the
00095      * robot is positioned on the black line on white background. 
00096      * The values of the calibration are storred internaly and used 
00097      * when computing the normalized result values of calibrated_sensors().
00098      */
00099     char sensor_auto_calibrate(void);
00100 
00101 private :
00102 
00103     DigitalOut _nrst;
00104     Serial _ser;
00105     
00106     virtual int _putc(int c);
00107     virtual int _getc();
00108 
00109 };
00110 
00111 
00112 } // Namespace physcom
00113 
00114 #endif