m3pimaze - Adds ability to play a tune and to directly read …

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Miranda Peterson / m3pimaze

Adds ability to play a tune and to directly read sensor values

Dependents: MusicTest Hail_Music

Fork of m3pimaze by Jon Marsh

m3pimaze.h@0:e1dac380452c, 2011-03-03 (annotated)

Committer:: jonmarsh
Date:: Thu Mar 03 10:07:21 2011 +0000
Revision:: 0:e1dac380452c

Who changed what in which revision?

User	Revision	Line number	New contents of line
jonmarsh	0:e1dac380452c	1	/* mbed m3pi Library
jonmarsh	0:e1dac380452c	2	* Copyright (c) 2007-2010 cstyles
jonmarsh	0:e1dac380452c	3	*
jonmarsh	0:e1dac380452c	4	* Permission is hereby granted, free of charge, to any person obtaining a copy
jonmarsh	0:e1dac380452c	5	* of this software and associated documentation files (the "Software"), to deal
jonmarsh	0:e1dac380452c	6	* in the Software without restriction, including without limitation the rights
jonmarsh	0:e1dac380452c	7	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jonmarsh	0:e1dac380452c	8	* copies of the Software, and to permit persons to whom the Software is
jonmarsh	0:e1dac380452c	9	* furnished to do so, subject to the following conditions:
jonmarsh	0:e1dac380452c	10	*
jonmarsh	0:e1dac380452c	11	* The above copyright notice and this permission notice shall be included in
jonmarsh	0:e1dac380452c	12	* all copies or substantial portions of the Software.
jonmarsh	0:e1dac380452c	13	*
jonmarsh	0:e1dac380452c	14	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jonmarsh	0:e1dac380452c	15	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jonmarsh	0:e1dac380452c	16	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jonmarsh	0:e1dac380452c	17	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jonmarsh	0:e1dac380452c	18	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jonmarsh	0:e1dac380452c	19	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jonmarsh	0:e1dac380452c	20	* THE SOFTWARE.
jonmarsh	0:e1dac380452c	21	*/
jonmarsh	0:e1dac380452c	22
jonmarsh	0:e1dac380452c	23	#ifndef M3PI_H
jonmarsh	0:e1dac380452c	24	#define M3PI_H
jonmarsh	0:e1dac380452c	25
jonmarsh	0:e1dac380452c	26	#include "mbed.h"
jonmarsh	0:e1dac380452c	27	#include "platform.h"
jonmarsh	0:e1dac380452c	28
jonmarsh	0:e1dac380452c	29	#ifdef MBED_RPC
jonmarsh	0:e1dac380452c	30	#include "rpc.h"
jonmarsh	0:e1dac380452c	31	#endif
jonmarsh	0:e1dac380452c	32
jonmarsh	0:e1dac380452c	33	#define SEND_SIGNATURE 0x81
jonmarsh	0:e1dac380452c	34	#define SEND_RAW_SENSOR_VALUES 0x86
jonmarsh	0:e1dac380452c	35	#define SEND_CALIBRATED_SENSOR_VALUES 0x87
jonmarsh	0:e1dac380452c	36	#define SEND_TRIMPOT 0xB0
jonmarsh	0:e1dac380452c	37	#define SEND_BATTERY_MILLIVOLTS 0xB1
jonmarsh	0:e1dac380452c	38	#define DO_PLAY 0xB3
jonmarsh	0:e1dac380452c	39	#define PI_CALIBRATE 0xB4
jonmarsh	0:e1dac380452c	40	#define DO_CLEAR 0xB7
jonmarsh	0:e1dac380452c	41	#define DO_PRINT 0xB8
jonmarsh	0:e1dac380452c	42	#define DO_LCD_GOTO_XY 0xB9
jonmarsh	0:e1dac380452c	43	#define LINE_SENSORS_RESET_CALIBRATION 0xB5
jonmarsh	0:e1dac380452c	44	#define SEND_LINE_POSITION 0xB6
jonmarsh	0:e1dac380452c	45	#define AUTO_CALIBRATE 0xBA
jonmarsh	0:e1dac380452c	46	#define SET_PID 0xBB
jonmarsh	0:e1dac380452c	47	#define STOP_PID 0xBC
jonmarsh	0:e1dac380452c	48	#define M1_FORWARD 0xC1
jonmarsh	0:e1dac380452c	49	#define M1_BACKWARD 0xC2
jonmarsh	0:e1dac380452c	50	#define M2_FORWARD 0xC5
jonmarsh	0:e1dac380452c	51	#define M2_BACKWARD 0xC6
jonmarsh	0:e1dac380452c	52
jonmarsh	0:e1dac380452c	53
jonmarsh	0:e1dac380452c	54
jonmarsh	0:e1dac380452c	55
jonmarsh	0:e1dac380452c	56
jonmarsh	0:e1dac380452c	57
jonmarsh	0:e1dac380452c	58
jonmarsh	0:e1dac380452c	59	/** m3pi control class
jonmarsh	0:e1dac380452c	60	*
jonmarsh	0:e1dac380452c	61	* Example:
jonmarsh	0:e1dac380452c	62	* @code
jonmarsh	0:e1dac380452c	63	* // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
jonmarsh	0:e1dac380452c	64
jonmarsh	0:e1dac380452c	65	#include "mbed.h"
jonmarsh	0:e1dac380452c	66	#include "m3pimusic.h"
jonmarsh	0:e1dac380452c	67
jonmarsh	0:e1dac380452c	68	m3pi pi(p8,p9,p10);
jonmarsh	0:e1dac380452c	69
jonmarsh	0:e1dac380452c	70	int main() {
jonmarsh	0:e1dac380452c	71
jonmarsh	0:e1dac380452c	72	wait(0.5);
jonmarsh	0:e1dac380452c	73
jonmarsh	0:e1dac380452c	74	pi.forward(0.5);
jonmarsh	0:e1dac380452c	75	wait (0.5);
jonmarsh	0:e1dac380452c	76	pi.left(0.5);
jonmarsh	0:e1dac380452c	77	wait (0.5);
jonmarsh	0:e1dac380452c	78	pi.backward(0.5);
jonmarsh	0:e1dac380452c	79	wait (0.5);
jonmarsh	0:e1dac380452c	80	pi.right(0.5);
jonmarsh	0:e1dac380452c	81	wait (0.5);
jonmarsh	0:e1dac380452c	82
jonmarsh	0:e1dac380452c	83	pi.stop();
jonmarsh	0:e1dac380452c	84
jonmarsh	0:e1dac380452c	85	}
jonmarsh	0:e1dac380452c	86	* @endcode
jonmarsh	0:e1dac380452c	87	*/
jonmarsh	0:e1dac380452c	88	class m3pi : public Stream {
jonmarsh	0:e1dac380452c	89
jonmarsh	0:e1dac380452c	90	// Public functions
jonmarsh	0:e1dac380452c	91	public:
jonmarsh	0:e1dac380452c	92
jonmarsh	0:e1dac380452c	93	/** Create the m3pi object connected to the default pins
jonmarsh	0:e1dac380452c	94	*
jonmarsh	0:e1dac380452c	95	* @param nrst GPIO pin used for reset. Default is p8
jonmarsh	0:e1dac380452c	96	* @param tx Serial transmit pin. Default is p9
jonmarsh	0:e1dac380452c	97	* @param rx Serial receive pin. Default is p10
jonmarsh	0:e1dac380452c	98	*/
jonmarsh	0:e1dac380452c	99	m3pi(PinName nrst, PinName tx, PinName rx);
jonmarsh	0:e1dac380452c	100
jonmarsh	0:e1dac380452c	101
jonmarsh	0:e1dac380452c	102	/** Force a hardware reset of the 3pi
jonmarsh	0:e1dac380452c	103	*/
jonmarsh	0:e1dac380452c	104	void reset (void);
jonmarsh	0:e1dac380452c	105
jonmarsh	0:e1dac380452c	106	/** Directly control the speed and direction of the left motor
jonmarsh	0:e1dac380452c	107	*
jonmarsh	0:e1dac380452c	108	* @param speed A normalised number -1.0 - 1.0 represents the full range.
jonmarsh	0:e1dac380452c	109	*/
jonmarsh	0:e1dac380452c	110	void left_motor (float speed);
jonmarsh	0:e1dac380452c	111
jonmarsh	0:e1dac380452c	112	/** Directly control the speed and direction of the right motor
jonmarsh	0:e1dac380452c	113	*
jonmarsh	0:e1dac380452c	114	* @param speed A normalised number -1.0 - 1.0 represents the full range.
jonmarsh	0:e1dac380452c	115	*/
jonmarsh	0:e1dac380452c	116	void right_motor (float speed);
jonmarsh	0:e1dac380452c	117
jonmarsh	0:e1dac380452c	118	/** Drive both motors forward as the same speed
jonmarsh	0:e1dac380452c	119	*
jonmarsh	0:e1dac380452c	120	* @param speed A normalised number 0 - 1.0 represents the full range.
jonmarsh	0:e1dac380452c	121	*/
jonmarsh	0:e1dac380452c	122	void forward (float speed);
jonmarsh	0:e1dac380452c	123
jonmarsh	0:e1dac380452c	124	/** Drive both motors backward as the same speed
jonmarsh	0:e1dac380452c	125	*
jonmarsh	0:e1dac380452c	126	* @param speed A normalised number 0 - 1.0 represents the full range.
jonmarsh	0:e1dac380452c	127	*/
jonmarsh	0:e1dac380452c	128	void backward (float speed);
jonmarsh	0:e1dac380452c	129
jonmarsh	0:e1dac380452c	130	/** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
jonmarsh	0:e1dac380452c	131	*
jonmarsh	0:e1dac380452c	132	* @param speed A normalised number 0 - 1.0 represents the full range.
jonmarsh	0:e1dac380452c	133	*/
jonmarsh	0:e1dac380452c	134	void left (float speed);
jonmarsh	0:e1dac380452c	135
jonmarsh	0:e1dac380452c	136	/** Drive left motor forward and right motor backwards at the same speed to turn on the spot
jonmarsh	0:e1dac380452c	137	*
jonmarsh	0:e1dac380452c	138	* @param speed A normalised number 0 - 1.0 represents the full range.
jonmarsh	0:e1dac380452c	139	*/
jonmarsh	0:e1dac380452c	140	void right (float speed);
jonmarsh	0:e1dac380452c	141
jonmarsh	0:e1dac380452c	142	/** Stop both motors
jonmarsh	0:e1dac380452c	143	*
jonmarsh	0:e1dac380452c	144	*/
jonmarsh	0:e1dac380452c	145	void stop (void);
jonmarsh	0:e1dac380452c	146
jonmarsh	0:e1dac380452c	147	/** Read the voltage of the potentiometer on the 3pi
jonmarsh	0:e1dac380452c	148	* @returns voltage as a float
jonmarsh	0:e1dac380452c	149	*
jonmarsh	0:e1dac380452c	150	*/
jonmarsh	0:e1dac380452c	151	float pot_voltage(void);
jonmarsh	0:e1dac380452c	152
jonmarsh	0:e1dac380452c	153	/** Read the battery voltage on the 3pi
jonmarsh	0:e1dac380452c	154	* @returns battery voltage as a float
jonmarsh	0:e1dac380452c	155	*
jonmarsh	0:e1dac380452c	156	*/
jonmarsh	0:e1dac380452c	157	float battery(void);
jonmarsh	0:e1dac380452c	158
jonmarsh	0:e1dac380452c	159	/** Read the position of the detected line
jonmarsh	0:e1dac380452c	160	* @returns position as A normalised number -1.0 - 1.0 represents the full range.
jonmarsh	0:e1dac380452c	161	*
jonmarsh	0:e1dac380452c	162	*/
jonmarsh	0:e1dac380452c	163	float line_position (void);
jonmarsh	0:e1dac380452c	164
jonmarsh	0:e1dac380452c	165
jonmarsh	0:e1dac380452c	166	/** Calibrate the sensors. This turns the robot left then right, loking for a line
jonmarsh	0:e1dac380452c	167	*
jonmarsh	0:e1dac380452c	168	*/
jonmarsh	0:e1dac380452c	169	char sensor_auto_calibrate (void);
jonmarsh	0:e1dac380452c	170
jonmarsh	0:e1dac380452c	171	/** Set calibration manually to the current settings.
jonmarsh	0:e1dac380452c	172	*
jonmarsh	0:e1dac380452c	173	*/
jonmarsh	0:e1dac380452c	174	void calibrate(void);
jonmarsh	0:e1dac380452c	175
jonmarsh	0:e1dac380452c	176	/** Clear the current calibration settings
jonmarsh	0:e1dac380452c	177	*
jonmarsh	0:e1dac380452c	178	*/
jonmarsh	0:e1dac380452c	179	void reset_calibration (void);
jonmarsh	0:e1dac380452c	180
jonmarsh	0:e1dac380452c	181	void PID_start(int max_speed, int a, int b, int c, int d);
jonmarsh	0:e1dac380452c	182
jonmarsh	0:e1dac380452c	183	void PID_stop();
jonmarsh	0:e1dac380452c	184
jonmarsh	0:e1dac380452c	185	/** Write to the 8 LEDs
jonmarsh	0:e1dac380452c	186	*
jonmarsh	0:e1dac380452c	187	* @param leds An 8 bit value to put on the LEDs
jonmarsh	0:e1dac380452c	188	*/
jonmarsh	0:e1dac380452c	189	void leds(int val);
jonmarsh	0:e1dac380452c	190
jonmarsh	0:e1dac380452c	191
jonmarsh	0:e1dac380452c	192
jonmarsh	0:e1dac380452c	193	/** Locate the cursor on the 8x2 LCD
jonmarsh	0:e1dac380452c	194	*
jonmarsh	0:e1dac380452c	195	* @param x The horizontal position, from 0 to 7
jonmarsh	0:e1dac380452c	196	* @param y The vertical position, from 0 to 1
jonmarsh	0:e1dac380452c	197	*/
jonmarsh	0:e1dac380452c	198	void locate(int x, int y);
jonmarsh	0:e1dac380452c	199
jonmarsh	0:e1dac380452c	200	/** Clear the LCD
jonmarsh	0:e1dac380452c	201	*
jonmarsh	0:e1dac380452c	202	*/
jonmarsh	0:e1dac380452c	203	void cls(void);
jonmarsh	0:e1dac380452c	204
jonmarsh	0:e1dac380452c	205	/** Send a character directly to the 3pi serial interface
jonmarsh	0:e1dac380452c	206	* @param c The character to send to the 3pi
jonmarsh	0:e1dac380452c	207	*/
jonmarsh	0:e1dac380452c	208	int putc(int c);
jonmarsh	0:e1dac380452c	209
jonmarsh	0:e1dac380452c	210	/** Receive a character directly to the 3pi serial interface
jonmarsh	0:e1dac380452c	211	* @returns c The character received from the 3pi
jonmarsh	0:e1dac380452c	212	*/
jonmarsh	0:e1dac380452c	213	int getc();
jonmarsh	0:e1dac380452c	214
jonmarsh	0:e1dac380452c	215	/** Send a string buffer to the 3pi serial interface
jonmarsh	0:e1dac380452c	216	* @param text A pointer to a char array
jonmarsh	0:e1dac380452c	217	* @param int The character to send to the 3pi
jonmarsh	0:e1dac380452c	218	*/
jonmarsh	0:e1dac380452c	219	int print(char* text, int length);
jonmarsh	0:e1dac380452c	220
jonmarsh	0:e1dac380452c	221	/** Play a tune
jonmarsh	0:e1dac380452c	222	*/
jonmarsh	0:e1dac380452c	223	int playtune(char* text, int length);
jonmarsh	0:e1dac380452c	224
jonmarsh	0:e1dac380452c	225	/**
jonmarsh	0:e1dac380452c	226	* Read the calibrated value of a sensor
jonmarsh	0:e1dac380452c	227	* @param sensor Pointer to array sensor [0-4]
jonmarsh	0:e1dac380452c	228	* @param values returned in the range 0-1000 where 1000=completely dark
jonmarsh	0:e1dac380452c	229	*/
jonmarsh	0:e1dac380452c	230	void readsensor(int *sensor);
jonmarsh	0:e1dac380452c	231
jonmarsh	0:e1dac380452c	232	#ifdef MBED_RPC
jonmarsh	0:e1dac380452c	233	virtual const struct rpc_method *get_rpc_methods();
jonmarsh	0:e1dac380452c	234	#endif
jonmarsh	0:e1dac380452c	235
jonmarsh	0:e1dac380452c	236	private :
jonmarsh	0:e1dac380452c	237
jonmarsh	0:e1dac380452c	238	DigitalOut _nrst;
jonmarsh	0:e1dac380452c	239	Serial _ser;
jonmarsh	0:e1dac380452c	240	BusOut _leds;
jonmarsh	0:e1dac380452c	241
jonmarsh	0:e1dac380452c	242	void motor (int motor, float speed);
jonmarsh	0:e1dac380452c	243	virtual int _putc(int c);
jonmarsh	0:e1dac380452c	244	virtual int _getc();
jonmarsh	0:e1dac380452c	245
jonmarsh	0:e1dac380452c	246	};
jonmarsh	0:e1dac380452c	247
jonmarsh	0:e1dac380452c	248	#endif

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Type:	Library
Created:	02 Jun 2014
Imports:	1
Forks:	0
Commits:	2
Dependents:	2
Dependencies:	0
Followers:	1

m3pimaze.h@0:e1dac380452c, 2011-03-03 (annotated)

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