m3pi
m3pi.h@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 | /* mbed m3pi Library |
microsat | 0:fda628f82e5f | 2 | * Copyright (c) 2007-2010 cstyles |
microsat | 0:fda628f82e5f | 3 | * |
microsat | 0:fda628f82e5f | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
microsat | 0:fda628f82e5f | 5 | * of this software and associated documentation files (the "Software"), to deal |
microsat | 0:fda628f82e5f | 6 | * in the Software without restriction, including without limitation the rights |
microsat | 0:fda628f82e5f | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
microsat | 0:fda628f82e5f | 8 | * copies of the Software, and to permit persons to whom the Software is |
microsat | 0:fda628f82e5f | 9 | * furnished to do so, subject to the following conditions: |
microsat | 0:fda628f82e5f | 10 | * |
microsat | 0:fda628f82e5f | 11 | * The above copyright notice and this permission notice shall be included in |
microsat | 0:fda628f82e5f | 12 | * all copies or substantial portions of the Software. |
microsat | 0:fda628f82e5f | 13 | * |
microsat | 0:fda628f82e5f | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
microsat | 0:fda628f82e5f | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
microsat | 0:fda628f82e5f | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
microsat | 0:fda628f82e5f | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
microsat | 0:fda628f82e5f | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
microsat | 0:fda628f82e5f | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
microsat | 0:fda628f82e5f | 20 | * THE SOFTWARE. |
microsat | 0:fda628f82e5f | 21 | */ |
microsat | 0:fda628f82e5f | 22 | |
microsat | 0:fda628f82e5f | 23 | #ifndef M3PI_H |
microsat | 0:fda628f82e5f | 24 | #define M3PI_H |
microsat | 0:fda628f82e5f | 25 | |
microsat | 0:fda628f82e5f | 26 | #include "mbed.h" |
microsat | 0:fda628f82e5f | 27 | #include "platform.h" |
microsat | 0:fda628f82e5f | 28 | |
microsat | 0:fda628f82e5f | 29 | #ifdef MBED_RPC |
microsat | 0:fda628f82e5f | 30 | #include "rpc.h" |
microsat | 0:fda628f82e5f | 31 | #endif |
microsat | 0:fda628f82e5f | 32 | |
microsat | 0:fda628f82e5f | 33 | #define SEND_SIGNATURE 0x81 |
microsat | 0:fda628f82e5f | 34 | #define SEND_RAW_SENSOR_VALUES 0x86 |
microsat | 0:fda628f82e5f | 35 | #define SEND_TRIMPOT 0xB0 |
microsat | 0:fda628f82e5f | 36 | #define SEND_BATTERY_MILLIVOLTS 0xB1 |
microsat | 0:fda628f82e5f | 37 | #define DO_PLAY 0xB3 |
microsat | 0:fda628f82e5f | 38 | #define PI_CALIBRATE 0xB4 |
microsat | 0:fda628f82e5f | 39 | #define DO_CLEAR 0xB7 |
microsat | 0:fda628f82e5f | 40 | #define DO_PRINT 0xB8 |
microsat | 0:fda628f82e5f | 41 | #define DO_LCD_GOTO_XY 0xB9 |
microsat | 0:fda628f82e5f | 42 | #define LINE_SENSORS_RESET_CALIBRATION 0xB5 |
microsat | 0:fda628f82e5f | 43 | #define SEND_LINE_POSITION 0xB6 |
microsat | 0:fda628f82e5f | 44 | #define AUTO_CALIBRATE 0xBA |
microsat | 0:fda628f82e5f | 45 | #define SET_PID 0xBB |
microsat | 0:fda628f82e5f | 46 | #define STOP_PID 0xBC |
microsat | 0:fda628f82e5f | 47 | #define M1_FORWARD 0xC1 |
microsat | 0:fda628f82e5f | 48 | #define M1_BACKWARD 0xC2 |
microsat | 0:fda628f82e5f | 49 | #define M2_FORWARD 0xC5 |
microsat | 0:fda628f82e5f | 50 | #define M2_BACKWARD 0xC6 |
microsat | 0:fda628f82e5f | 51 | |
microsat | 0:fda628f82e5f | 52 | |
microsat | 0:fda628f82e5f | 53 | |
microsat | 0:fda628f82e5f | 54 | |
microsat | 0:fda628f82e5f | 55 | |
microsat | 0:fda628f82e5f | 56 | |
microsat | 0:fda628f82e5f | 57 | |
microsat | 0:fda628f82e5f | 58 | /** m3pi control class |
microsat | 0:fda628f82e5f | 59 | * |
microsat | 0:fda628f82e5f | 60 | * Example: |
microsat | 0:fda628f82e5f | 61 | * @code |
microsat | 0:fda628f82e5f | 62 | * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second |
microsat | 0:fda628f82e5f | 63 | |
microsat | 0:fda628f82e5f | 64 | #include "mbed.h" |
microsat | 0:fda628f82e5f | 65 | #include "m3pi.h" |
microsat | 0:fda628f82e5f | 66 | |
microsat | 0:fda628f82e5f | 67 | m3pi pi(p8,p9,p10); |
microsat | 0:fda628f82e5f | 68 | |
microsat | 0:fda628f82e5f | 69 | int main() { |
microsat | 0:fda628f82e5f | 70 | |
microsat | 0:fda628f82e5f | 71 | wait(0.5); |
microsat | 0:fda628f82e5f | 72 | |
microsat | 0:fda628f82e5f | 73 | pi.forward(0.5); |
microsat | 0:fda628f82e5f | 74 | wait (0.5); |
microsat | 0:fda628f82e5f | 75 | pi.left(0.5); |
microsat | 0:fda628f82e5f | 76 | wait (0.5); |
microsat | 0:fda628f82e5f | 77 | pi.backward(0.5); |
microsat | 0:fda628f82e5f | 78 | wait (0.5); |
microsat | 0:fda628f82e5f | 79 | pi.right(0.5); |
microsat | 0:fda628f82e5f | 80 | wait (0.5); |
microsat | 0:fda628f82e5f | 81 | |
microsat | 0:fda628f82e5f | 82 | pi.stop(); |
microsat | 0:fda628f82e5f | 83 | |
microsat | 0:fda628f82e5f | 84 | } |
microsat | 0:fda628f82e5f | 85 | * @endcode |
microsat | 0:fda628f82e5f | 86 | */ |
microsat | 0:fda628f82e5f | 87 | class m3pi : public Stream { |
microsat | 0:fda628f82e5f | 88 | |
microsat | 0:fda628f82e5f | 89 | // Public functions |
microsat | 0:fda628f82e5f | 90 | public: |
microsat | 0:fda628f82e5f | 91 | |
microsat | 0:fda628f82e5f | 92 | /** Create the m3pi object connected to the default pins |
microsat | 0:fda628f82e5f | 93 | * |
microsat | 0:fda628f82e5f | 94 | * @param nrst GPIO pin used for reset. Default is p8 |
microsat | 0:fda628f82e5f | 95 | * @param tx Serial transmit pin. Default is p9 |
microsat | 0:fda628f82e5f | 96 | * @param rx Serial receive pin. Default is p10 |
microsat | 0:fda628f82e5f | 97 | */ |
microsat | 0:fda628f82e5f | 98 | m3pi(PinName nrst, PinName tx, PinName rx); |
microsat | 0:fda628f82e5f | 99 | |
microsat | 0:fda628f82e5f | 100 | |
microsat | 0:fda628f82e5f | 101 | /** Force a hardware reset of the 3pi |
microsat | 0:fda628f82e5f | 102 | */ |
microsat | 0:fda628f82e5f | 103 | void reset (void); |
microsat | 0:fda628f82e5f | 104 | |
microsat | 0:fda628f82e5f | 105 | /** Directly control the speed and direction of the left motor |
microsat | 0:fda628f82e5f | 106 | * |
microsat | 0:fda628f82e5f | 107 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
microsat | 0:fda628f82e5f | 108 | */ |
microsat | 0:fda628f82e5f | 109 | void left_motor (float speed); |
microsat | 0:fda628f82e5f | 110 | |
microsat | 0:fda628f82e5f | 111 | /** Directly control the speed and direction of the right motor |
microsat | 0:fda628f82e5f | 112 | * |
microsat | 0:fda628f82e5f | 113 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
microsat | 0:fda628f82e5f | 114 | */ |
microsat | 0:fda628f82e5f | 115 | void right_motor (float speed); |
microsat | 0:fda628f82e5f | 116 | |
microsat | 0:fda628f82e5f | 117 | /** Drive both motors forward as the same speed |
microsat | 0:fda628f82e5f | 118 | * |
microsat | 0:fda628f82e5f | 119 | * @param speed A normalised number 0 - 1.0 represents the full range. |
microsat | 0:fda628f82e5f | 120 | */ |
microsat | 0:fda628f82e5f | 121 | void forward (float speed); |
microsat | 0:fda628f82e5f | 122 | |
microsat | 0:fda628f82e5f | 123 | /** Drive both motors backward as the same speed |
microsat | 0:fda628f82e5f | 124 | * |
microsat | 0:fda628f82e5f | 125 | * @param speed A normalised number 0 - 1.0 represents the full range. |
microsat | 0:fda628f82e5f | 126 | */ |
microsat | 0:fda628f82e5f | 127 | void backward (float speed); |
microsat | 0:fda628f82e5f | 128 | |
microsat | 0:fda628f82e5f | 129 | /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot |
microsat | 0:fda628f82e5f | 130 | * |
microsat | 0:fda628f82e5f | 131 | * @param speed A normalised number 0 - 1.0 represents the full range. |
microsat | 0:fda628f82e5f | 132 | */ |
microsat | 0:fda628f82e5f | 133 | void left (float speed); |
microsat | 0:fda628f82e5f | 134 | |
microsat | 0:fda628f82e5f | 135 | /** Drive left motor forward and right motor backwards at the same speed to turn on the spot |
microsat | 0:fda628f82e5f | 136 | * |
microsat | 0:fda628f82e5f | 137 | * @param speed A normalised number 0 - 1.0 represents the full range. |
microsat | 0:fda628f82e5f | 138 | */ |
microsat | 0:fda628f82e5f | 139 | void right (float speed); |
microsat | 0:fda628f82e5f | 140 | |
microsat | 0:fda628f82e5f | 141 | /** Stop both motors |
microsat | 0:fda628f82e5f | 142 | * |
microsat | 0:fda628f82e5f | 143 | */ |
microsat | 0:fda628f82e5f | 144 | void stop (void); |
microsat | 0:fda628f82e5f | 145 | |
microsat | 0:fda628f82e5f | 146 | /** Read the voltage of the potentiometer on the 3pi |
microsat | 0:fda628f82e5f | 147 | * @returns voltage as a float |
microsat | 0:fda628f82e5f | 148 | * |
microsat | 0:fda628f82e5f | 149 | */ |
microsat | 0:fda628f82e5f | 150 | float pot_voltage(void); |
microsat | 0:fda628f82e5f | 151 | |
microsat | 0:fda628f82e5f | 152 | /** Read the battery voltage on the 3pi |
microsat | 0:fda628f82e5f | 153 | * @returns battery voltage as a float |
microsat | 0:fda628f82e5f | 154 | * |
microsat | 0:fda628f82e5f | 155 | */ |
microsat | 0:fda628f82e5f | 156 | float battery(void); |
microsat | 0:fda628f82e5f | 157 | |
microsat | 0:fda628f82e5f | 158 | /** Read the position of the detected line |
microsat | 0:fda628f82e5f | 159 | * @returns position as A normalised number -1.0 - 1.0 represents the full range. |
microsat | 0:fda628f82e5f | 160 | * |
microsat | 0:fda628f82e5f | 161 | */ |
microsat | 0:fda628f82e5f | 162 | float line_position (void); |
microsat | 0:fda628f82e5f | 163 | |
microsat | 0:fda628f82e5f | 164 | |
microsat | 0:fda628f82e5f | 165 | /** Calibrate the sensors. This turns the robot left then right, loking for a line |
microsat | 0:fda628f82e5f | 166 | * |
microsat | 0:fda628f82e5f | 167 | */ |
microsat | 0:fda628f82e5f | 168 | char sensor_auto_calibrate (void); |
microsat | 0:fda628f82e5f | 169 | |
microsat | 0:fda628f82e5f | 170 | /** Set calibration manually to the current settings. |
microsat | 0:fda628f82e5f | 171 | * |
microsat | 0:fda628f82e5f | 172 | */ |
microsat | 0:fda628f82e5f | 173 | void calibrate(void); |
microsat | 0:fda628f82e5f | 174 | |
microsat | 0:fda628f82e5f | 175 | /** Clear the current calibration settings |
microsat | 0:fda628f82e5f | 176 | * |
microsat | 0:fda628f82e5f | 177 | */ |
microsat | 0:fda628f82e5f | 178 | void reset_calibration (void); |
microsat | 0:fda628f82e5f | 179 | |
microsat | 0:fda628f82e5f | 180 | void PID_start(int max_speed, int a, int b, int c, int d); |
microsat | 0:fda628f82e5f | 181 | |
microsat | 0:fda628f82e5f | 182 | void PID_stop(); |
microsat | 0:fda628f82e5f | 183 | |
microsat | 0:fda628f82e5f | 184 | /** Write to the 8 LEDs |
microsat | 0:fda628f82e5f | 185 | * |
microsat | 0:fda628f82e5f | 186 | * @param leds An 8 bit value to put on the LEDs |
microsat | 0:fda628f82e5f | 187 | */ |
microsat | 0:fda628f82e5f | 188 | void leds(int val); |
microsat | 0:fda628f82e5f | 189 | |
microsat | 0:fda628f82e5f | 190 | void play(char* what, int length); |
microsat | 0:fda628f82e5f | 191 | |
microsat | 0:fda628f82e5f | 192 | /** Locate the cursor on the 8x2 LCD |
microsat | 0:fda628f82e5f | 193 | * |
microsat | 0:fda628f82e5f | 194 | * @param x The horizontal position, from 0 to 7 |
microsat | 0:fda628f82e5f | 195 | * @param y The vertical position, from 0 to 1 |
microsat | 0:fda628f82e5f | 196 | */ |
microsat | 0:fda628f82e5f | 197 | void locate(int x, int y); |
microsat | 0:fda628f82e5f | 198 | |
microsat | 0:fda628f82e5f | 199 | /** Clear the LCD |
microsat | 0:fda628f82e5f | 200 | * |
microsat | 0:fda628f82e5f | 201 | */ |
microsat | 0:fda628f82e5f | 202 | void cls(void); |
microsat | 0:fda628f82e5f | 203 | |
microsat | 0:fda628f82e5f | 204 | /** Send a character directly to the 3pi serial interface |
microsat | 0:fda628f82e5f | 205 | * @param c The character to send to the 3pi |
microsat | 0:fda628f82e5f | 206 | */ |
microsat | 0:fda628f82e5f | 207 | int putc(int c); |
microsat | 0:fda628f82e5f | 208 | |
microsat | 0:fda628f82e5f | 209 | /** Receive a character directly to the 3pi serial interface |
microsat | 0:fda628f82e5f | 210 | * @returns c The character received from the 3pi |
microsat | 0:fda628f82e5f | 211 | */ |
microsat | 0:fda628f82e5f | 212 | int getc(); |
microsat | 0:fda628f82e5f | 213 | |
microsat | 0:fda628f82e5f | 214 | /** Send a string buffer to the 3pi serial interface |
microsat | 0:fda628f82e5f | 215 | * @param text A pointer to a char array |
microsat | 0:fda628f82e5f | 216 | * @param int The character to send to the 3pi |
microsat | 0:fda628f82e5f | 217 | */ |
microsat | 0:fda628f82e5f | 218 | int print(char* text, int length); |
microsat | 0:fda628f82e5f | 219 | |
microsat | 0:fda628f82e5f | 220 | #ifdef MBED_RPC |
microsat | 0:fda628f82e5f | 221 | virtual const struct rpc_method *get_rpc_methods(); |
microsat | 0:fda628f82e5f | 222 | #endif |
microsat | 0:fda628f82e5f | 223 | |
microsat | 0:fda628f82e5f | 224 | private : |
microsat | 0:fda628f82e5f | 225 | |
microsat | 0:fda628f82e5f | 226 | DigitalOut _nrst; |
microsat | 0:fda628f82e5f | 227 | Serial _ser; |
microsat | 0:fda628f82e5f | 228 | BusOut _leds; |
microsat | 0:fda628f82e5f | 229 | |
microsat | 0:fda628f82e5f | 230 | void motor (int motor, float speed); |
microsat | 0:fda628f82e5f | 231 | virtual int _putc(int c); |
microsat | 0:fda628f82e5f | 232 | virtual int _getc(); |
microsat | 0:fda628f82e5f | 233 | |
microsat | 0:fda628f82e5f | 234 | }; |
microsat | 0:fda628f82e5f | 235 | |
microsat | 0:fda628f82e5f | 236 | #endif |