m3pi
m3pi.cpp@0:fda628f82e5f, 2010-11-23 (annotated)
- Committer:
- microsat
- Date:
- Tue Nov 23 06:48:27 2010 +0000
- Revision:
- 0:fda628f82e5f
added play func
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
microsat | 0:fda628f82e5f | 1 | /* m3pi Library |
microsat | 0:fda628f82e5f | 2 | * |
microsat | 0:fda628f82e5f | 3 | * Copyright (c) 2007-2010 cstyles |
microsat | 0:fda628f82e5f | 4 | * |
microsat | 0:fda628f82e5f | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
microsat | 0:fda628f82e5f | 6 | * of this software and associated documentation files (the "Software"), to deal |
microsat | 0:fda628f82e5f | 7 | * in the Software without restriction, including without limitation the rights |
microsat | 0:fda628f82e5f | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
microsat | 0:fda628f82e5f | 9 | * copies of the Software, and to permit persons to whom the Software is |
microsat | 0:fda628f82e5f | 10 | * furnished to do so, subject to the following conditions: |
microsat | 0:fda628f82e5f | 11 | * |
microsat | 0:fda628f82e5f | 12 | * The above copyright notice and this permission notice shall be included in |
microsat | 0:fda628f82e5f | 13 | * all copies or substantial portions of the Software. |
microsat | 0:fda628f82e5f | 14 | * |
microsat | 0:fda628f82e5f | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
microsat | 0:fda628f82e5f | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
microsat | 0:fda628f82e5f | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
microsat | 0:fda628f82e5f | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
microsat | 0:fda628f82e5f | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
microsat | 0:fda628f82e5f | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
microsat | 0:fda628f82e5f | 21 | * THE SOFTWARE. |
microsat | 0:fda628f82e5f | 22 | */ |
microsat | 0:fda628f82e5f | 23 | |
microsat | 0:fda628f82e5f | 24 | #include "mbed.h" |
microsat | 0:fda628f82e5f | 25 | #include "m3pi.h" |
microsat | 0:fda628f82e5f | 26 | |
microsat | 0:fda628f82e5f | 27 | m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx), _leds(p20,p19,p18,p17,p16,p15,p14,p13) { |
microsat | 0:fda628f82e5f | 28 | _leds = 0; |
microsat | 0:fda628f82e5f | 29 | _ser.baud(115200); |
microsat | 0:fda628f82e5f | 30 | reset(); |
microsat | 0:fda628f82e5f | 31 | } |
microsat | 0:fda628f82e5f | 32 | |
microsat | 0:fda628f82e5f | 33 | void m3pi::reset () { |
microsat | 0:fda628f82e5f | 34 | _nrst = 0; |
microsat | 0:fda628f82e5f | 35 | wait (0.01); |
microsat | 0:fda628f82e5f | 36 | _nrst = 1; |
microsat | 0:fda628f82e5f | 37 | wait (0.1); |
microsat | 0:fda628f82e5f | 38 | } |
microsat | 0:fda628f82e5f | 39 | |
microsat | 0:fda628f82e5f | 40 | void m3pi::left_motor (float speed) { |
microsat | 0:fda628f82e5f | 41 | motor(0,speed); |
microsat | 0:fda628f82e5f | 42 | } |
microsat | 0:fda628f82e5f | 43 | |
microsat | 0:fda628f82e5f | 44 | void m3pi::right_motor (float speed) { |
microsat | 0:fda628f82e5f | 45 | motor(1,speed); |
microsat | 0:fda628f82e5f | 46 | } |
microsat | 0:fda628f82e5f | 47 | |
microsat | 0:fda628f82e5f | 48 | void m3pi::forward (float speed) { |
microsat | 0:fda628f82e5f | 49 | motor(0,speed); |
microsat | 0:fda628f82e5f | 50 | motor(1,speed); |
microsat | 0:fda628f82e5f | 51 | } |
microsat | 0:fda628f82e5f | 52 | |
microsat | 0:fda628f82e5f | 53 | void m3pi::backward (float speed) { |
microsat | 0:fda628f82e5f | 54 | motor(0,-1.0*speed); |
microsat | 0:fda628f82e5f | 55 | motor(1,-1.0*speed); |
microsat | 0:fda628f82e5f | 56 | } |
microsat | 0:fda628f82e5f | 57 | |
microsat | 0:fda628f82e5f | 58 | void m3pi::left (float speed) { |
microsat | 0:fda628f82e5f | 59 | motor(0,speed); |
microsat | 0:fda628f82e5f | 60 | motor(1,-1.0*speed); |
microsat | 0:fda628f82e5f | 61 | } |
microsat | 0:fda628f82e5f | 62 | |
microsat | 0:fda628f82e5f | 63 | void m3pi::right (float speed) { |
microsat | 0:fda628f82e5f | 64 | motor(0,-1.0*speed); |
microsat | 0:fda628f82e5f | 65 | motor(1,speed); |
microsat | 0:fda628f82e5f | 66 | } |
microsat | 0:fda628f82e5f | 67 | |
microsat | 0:fda628f82e5f | 68 | void m3pi::stop (void) { |
microsat | 0:fda628f82e5f | 69 | motor(0,0.0); |
microsat | 0:fda628f82e5f | 70 | motor(1,0.0); |
microsat | 0:fda628f82e5f | 71 | } |
microsat | 0:fda628f82e5f | 72 | |
microsat | 0:fda628f82e5f | 73 | void m3pi::motor (int motor, float speed) { |
microsat | 0:fda628f82e5f | 74 | char opcode = 0x0; |
microsat | 0:fda628f82e5f | 75 | if (speed > 0.0) { |
microsat | 0:fda628f82e5f | 76 | if (motor==1) |
microsat | 0:fda628f82e5f | 77 | opcode = M1_FORWARD; |
microsat | 0:fda628f82e5f | 78 | else |
microsat | 0:fda628f82e5f | 79 | opcode = M2_FORWARD; |
microsat | 0:fda628f82e5f | 80 | } else { |
microsat | 0:fda628f82e5f | 81 | if (motor==1) |
microsat | 0:fda628f82e5f | 82 | opcode = M1_BACKWARD; |
microsat | 0:fda628f82e5f | 83 | else |
microsat | 0:fda628f82e5f | 84 | opcode = M2_BACKWARD; |
microsat | 0:fda628f82e5f | 85 | } |
microsat | 0:fda628f82e5f | 86 | unsigned char arg = 0x7f * abs(speed); |
microsat | 0:fda628f82e5f | 87 | |
microsat | 0:fda628f82e5f | 88 | _ser.putc(opcode); |
microsat | 0:fda628f82e5f | 89 | _ser.putc(arg); |
microsat | 0:fda628f82e5f | 90 | } |
microsat | 0:fda628f82e5f | 91 | |
microsat | 0:fda628f82e5f | 92 | float m3pi::battery() { |
microsat | 0:fda628f82e5f | 93 | _ser.putc(SEND_BATTERY_MILLIVOLTS); |
microsat | 0:fda628f82e5f | 94 | char lowbyte = _ser.getc(); |
microsat | 0:fda628f82e5f | 95 | char hibyte = _ser.getc(); |
microsat | 0:fda628f82e5f | 96 | float v = ((lowbyte + (hibyte << 8))/1000.0); |
microsat | 0:fda628f82e5f | 97 | return(v); |
microsat | 0:fda628f82e5f | 98 | } |
microsat | 0:fda628f82e5f | 99 | |
microsat | 0:fda628f82e5f | 100 | float m3pi::line_position() { |
microsat | 0:fda628f82e5f | 101 | int pos = 0; |
microsat | 0:fda628f82e5f | 102 | _ser.putc(SEND_LINE_POSITION); |
microsat | 0:fda628f82e5f | 103 | pos = _ser.getc(); |
microsat | 0:fda628f82e5f | 104 | pos += _ser.getc() << 8; |
microsat | 0:fda628f82e5f | 105 | |
microsat | 0:fda628f82e5f | 106 | float fpos = ((float)pos - 2048.0)/2048.0; |
microsat | 0:fda628f82e5f | 107 | return(fpos); |
microsat | 0:fda628f82e5f | 108 | } |
microsat | 0:fda628f82e5f | 109 | |
microsat | 0:fda628f82e5f | 110 | char m3pi::sensor_auto_calibrate() { |
microsat | 0:fda628f82e5f | 111 | _ser.putc(AUTO_CALIBRATE); |
microsat | 0:fda628f82e5f | 112 | return(_ser.getc()); |
microsat | 0:fda628f82e5f | 113 | } |
microsat | 0:fda628f82e5f | 114 | |
microsat | 0:fda628f82e5f | 115 | |
microsat | 0:fda628f82e5f | 116 | void m3pi::calibrate(void) { |
microsat | 0:fda628f82e5f | 117 | _ser.putc(PI_CALIBRATE); |
microsat | 0:fda628f82e5f | 118 | } |
microsat | 0:fda628f82e5f | 119 | |
microsat | 0:fda628f82e5f | 120 | void m3pi::reset_calibration() { |
microsat | 0:fda628f82e5f | 121 | _ser.putc(LINE_SENSORS_RESET_CALIBRATION); |
microsat | 0:fda628f82e5f | 122 | } |
microsat | 0:fda628f82e5f | 123 | |
microsat | 0:fda628f82e5f | 124 | void m3pi::PID_start(int max_speed, int a, int b, int c, int d) { |
microsat | 0:fda628f82e5f | 125 | _ser.putc(max_speed); |
microsat | 0:fda628f82e5f | 126 | _ser.putc(a); |
microsat | 0:fda628f82e5f | 127 | _ser.putc(b); |
microsat | 0:fda628f82e5f | 128 | _ser.putc(c); |
microsat | 0:fda628f82e5f | 129 | _ser.putc(d); |
microsat | 0:fda628f82e5f | 130 | } |
microsat | 0:fda628f82e5f | 131 | |
microsat | 0:fda628f82e5f | 132 | void m3pi::PID_stop() { |
microsat | 0:fda628f82e5f | 133 | _ser.putc(STOP_PID); |
microsat | 0:fda628f82e5f | 134 | } |
microsat | 0:fda628f82e5f | 135 | |
microsat | 0:fda628f82e5f | 136 | float m3pi::pot_voltage(void) { |
microsat | 0:fda628f82e5f | 137 | int volt = 0; |
microsat | 0:fda628f82e5f | 138 | _ser.putc(SEND_TRIMPOT); |
microsat | 0:fda628f82e5f | 139 | volt = _ser.getc(); |
microsat | 0:fda628f82e5f | 140 | volt += _ser.getc() << 8; |
microsat | 0:fda628f82e5f | 141 | return(volt); |
microsat | 0:fda628f82e5f | 142 | } |
microsat | 0:fda628f82e5f | 143 | |
microsat | 0:fda628f82e5f | 144 | |
microsat | 0:fda628f82e5f | 145 | void m3pi::leds(int val) { |
microsat | 0:fda628f82e5f | 146 | _leds = val; |
microsat | 0:fda628f82e5f | 147 | } |
microsat | 0:fda628f82e5f | 148 | |
microsat | 0:fda628f82e5f | 149 | |
microsat | 0:fda628f82e5f | 150 | void m3pi::locate(int x, int y) { |
microsat | 0:fda628f82e5f | 151 | _ser.putc(DO_LCD_GOTO_XY); |
microsat | 0:fda628f82e5f | 152 | _ser.putc(x); |
microsat | 0:fda628f82e5f | 153 | _ser.putc(y); |
microsat | 0:fda628f82e5f | 154 | } |
microsat | 0:fda628f82e5f | 155 | |
microsat | 0:fda628f82e5f | 156 | void m3pi::cls(void) { |
microsat | 0:fda628f82e5f | 157 | _ser.putc(DO_CLEAR); |
microsat | 0:fda628f82e5f | 158 | } |
microsat | 0:fda628f82e5f | 159 | |
microsat | 0:fda628f82e5f | 160 | void m3pi::play(char* what, int length) |
microsat | 0:fda628f82e5f | 161 | { |
microsat | 0:fda628f82e5f | 162 | _ser.putc(DO_PLAY); |
microsat | 0:fda628f82e5f | 163 | _ser.putc(length); |
microsat | 0:fda628f82e5f | 164 | for (int i = 0 ; i < length ; i++) { |
microsat | 0:fda628f82e5f | 165 | _ser.putc(what[i]); |
microsat | 0:fda628f82e5f | 166 | } |
microsat | 0:fda628f82e5f | 167 | } |
microsat | 0:fda628f82e5f | 168 | |
microsat | 0:fda628f82e5f | 169 | |
microsat | 0:fda628f82e5f | 170 | int m3pi::print (char* text, int length) { |
microsat | 0:fda628f82e5f | 171 | _ser.putc(DO_PRINT); |
microsat | 0:fda628f82e5f | 172 | _ser.putc(length); |
microsat | 0:fda628f82e5f | 173 | for (int i = 0 ; i < length ; i++) { |
microsat | 0:fda628f82e5f | 174 | _ser.putc(text[i]); |
microsat | 0:fda628f82e5f | 175 | } |
microsat | 0:fda628f82e5f | 176 | return(0); |
microsat | 0:fda628f82e5f | 177 | } |
microsat | 0:fda628f82e5f | 178 | |
microsat | 0:fda628f82e5f | 179 | int m3pi::_putc (int c) { |
microsat | 0:fda628f82e5f | 180 | _ser.putc(DO_PRINT); |
microsat | 0:fda628f82e5f | 181 | _ser.putc(0x1); |
microsat | 0:fda628f82e5f | 182 | _ser.putc(c); |
microsat | 0:fda628f82e5f | 183 | wait (0.001); |
microsat | 0:fda628f82e5f | 184 | return(c); |
microsat | 0:fda628f82e5f | 185 | } |
microsat | 0:fda628f82e5f | 186 | |
microsat | 0:fda628f82e5f | 187 | int m3pi::_getc (void) { |
microsat | 0:fda628f82e5f | 188 | char r = 0; |
microsat | 0:fda628f82e5f | 189 | return(r); |
microsat | 0:fda628f82e5f | 190 | } |
microsat | 0:fda628f82e5f | 191 | |
microsat | 0:fda628f82e5f | 192 | int m3pi::putc (int c) { |
microsat | 0:fda628f82e5f | 193 | return(_ser.putc(c)); |
microsat | 0:fda628f82e5f | 194 | } |
microsat | 0:fda628f82e5f | 195 | |
microsat | 0:fda628f82e5f | 196 | int m3pi::getc (void) { |
microsat | 0:fda628f82e5f | 197 | return(_ser.getc()); |
microsat | 0:fda628f82e5f | 198 | } |
microsat | 0:fda628f82e5f | 199 | |
microsat | 0:fda628f82e5f | 200 | |
microsat | 0:fda628f82e5f | 201 | |
microsat | 0:fda628f82e5f | 202 | |
microsat | 0:fda628f82e5f | 203 | |
microsat | 0:fda628f82e5f | 204 | #ifdef MBED_RPC |
microsat | 0:fda628f82e5f | 205 | const rpc_method *m3pi::get_rpc_methods() { |
microsat | 0:fda628f82e5f | 206 | static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> }, |
microsat | 0:fda628f82e5f | 207 | { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> }, |
microsat | 0:fda628f82e5f | 208 | { "left", rpc_method_caller<m3pi, float, &m3pi::left> }, |
microsat | 0:fda628f82e5f | 209 | { "right", rpc_method_caller<m3pi, float, &m3pi::right> }, |
microsat | 0:fda628f82e5f | 210 | { "stop", rpc_method_caller<m3pi, &m3pi::stop> }, |
microsat | 0:fda628f82e5f | 211 | { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> }, |
microsat | 0:fda628f82e5f | 212 | { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> }, |
microsat | 0:fda628f82e5f | 213 | { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> }, |
microsat | 0:fda628f82e5f | 214 | { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> }, |
microsat | 0:fda628f82e5f | 215 | { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> }, |
microsat | 0:fda628f82e5f | 216 | |
microsat | 0:fda628f82e5f | 217 | |
microsat | 0:fda628f82e5f | 218 | RPC_METHOD_SUPER(Base) |
microsat | 0:fda628f82e5f | 219 | }; |
microsat | 0:fda628f82e5f | 220 | return rpc_methods; |
microsat | 0:fda628f82e5f | 221 | } |
microsat | 0:fda628f82e5f | 222 | #endif |