Adds ability to play a tune and to directly read sensor values
Dependents: MusicTest Hail_Music
Fork of m3pimaze by
Diff: m3pimaze.h
- Revision:
- 1:5ab032688adf
- Parent:
- 0:e1dac380452c
diff -r e1dac380452c -r 5ab032688adf m3pimaze.h --- a/m3pimaze.h Thu Mar 03 10:07:21 2011 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,248 +0,0 @@ -/* mbed m3pi Library - * Copyright (c) 2007-2010 cstyles - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * 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_CALIBRATED_SENSOR_VALUES 0x87 -#define SEND_TRIMPOT 0xB0 -#define SEND_BATTERY_MILLIVOLTS 0xB1 -#define DO_PLAY 0xB3 -#define PI_CALIBRATE 0xB4 -#define DO_CLEAR 0xB7 -#define DO_PRINT 0xB8 -#define DO_LCD_GOTO_XY 0xB9 -#define LINE_SENSORS_RESET_CALIBRATION 0xB5 -#define SEND_LINE_POSITION 0xB6 -#define AUTO_CALIBRATE 0xBA -#define SET_PID 0xBB -#define STOP_PID 0xBC -#define M1_FORWARD 0xC1 -#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 "m3pimusic.h" - - m3pi pi(p8,p9,p10); - - int main() { - - wait(0.5); - - pi.forward(0.5); - wait (0.5); - pi.left(0.5); - wait (0.5); - pi.backward(0.5); - 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 p8 - * @param tx Serial transmit pin. Default is p9 - * @param rx Serial receive pin. Default is p10 - */ - 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. - * - */ - float line_position (void); - - - /** Calibrate the sensors. This turns the robot left then right, loking 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); - - /** Play a tune - */ - int playtune(char* text, int length); - - /** - * Read the calibrated value of a sensor - * @param sensor Pointer to array sensor [0-4] - * @param values returned in the range 0-1000 where 1000=completely dark - */ - void readsensor(int *sensor); - -#ifdef MBED_RPC - virtual const struct rpc_method *get_rpc_methods(); -#endif - -private : - - DigitalOut _nrst; - Serial _ser; - BusOut _leds; - - void motor (int motor, float speed); - virtual int _putc(int c); - virtual int _getc(); - -}; - -#endif \ No newline at end of file