m3pi.cpp

00001 /* m3pi Library
00002  *
00003  * Copyright (c) 2007-2010 cstyles
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  */
00023 
00024 #include "mbed.h"
00025 #include "m3pi.h"
00026 
00027 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) :  Stream("m3pi"), _nrst(nrst), _ser(tx, rx)  {
00028     _ser.baud(115200);
00029     reset();
00030 }
00031 
00032 m3pi::m3pi() :  Stream("m3pi"), _nrst(p23), _ser(p9, p10)  {
00033     _ser.baud(115200);
00034     reset();
00035 }
00036 
00037 
00038 void m3pi::reset () {
00039     _nrst = 0;
00040     wait (0.01);
00041     _nrst = 1;
00042     wait (0.1);
00043 }
00044 
00045 void m3pi::left_motor (float speed) {
00046     motor(0,speed);
00047 }
00048 
00049 void m3pi::right_motor (float speed) {
00050     motor(1,speed);
00051 }
00052 
00053 void m3pi::forward (float speed) {
00054     motor(0,speed);
00055     motor(1,speed);
00056 }
00057 
00058 void m3pi::backward (float speed) {
00059     motor(0,-1.0*speed);
00060     motor(1,-1.0*speed);
00061 }
00062 
00063 void m3pi::left (float speed) {
00064     motor(0,speed);
00065     motor(1,-1.0*speed);
00066 }
00067 
00068 void m3pi::right (float speed) {
00069     motor(0,-1.0*speed);
00070     motor(1,speed);
00071 }
00072 
00073 void m3pi::stop (void) {
00074     motor(0,0.0);
00075     motor(1,0.0);
00076 }
00077 
00078 void m3pi::motor (int motor, float speed) {
00079     char opcode = 0x0;
00080     if (speed > 0.0) {
00081         if (motor==1)
00082             opcode = M1_FORWARD;
00083         else
00084             opcode = M2_FORWARD;
00085     } else {
00086         if (motor==1)
00087             opcode = M1_BACKWARD;
00088         else
00089             opcode = M2_BACKWARD;
00090     }
00091     unsigned char arg = 0x7f * abs(speed);
00092 
00093     _ser.putc(opcode);
00094     _ser.putc(arg);
00095 }
00096 
00097 float m3pi::battery() {
00098     _ser.putc(SEND_BATTERY_MILLIVOLTS);
00099     char lowbyte = _ser.getc();
00100     char hibyte  = _ser.getc();
00101     float v = ((lowbyte + (hibyte << 8))/1000.0);
00102     return(v);
00103 }
00104 
00105 float m3pi::line_position() {
00106     int pos = 0;
00107     _ser.putc(SEND_LINE_POSITION);
00108     pos = _ser.getc();
00109     pos += _ser.getc() << 8;
00110     
00111     float fpos = ((float)pos - 2048.0)/2048.0;
00112     return(fpos);
00113 }
00114 
00115 const m3pi::LineSensors m3pi::get_raw_sensors(void) {
00116     static LineSensors sensors;
00117     
00118     _ser.putc(SEND_RAW_SENSOR_VALUES);
00119     
00120     sensors.sensor1 = _ser.getc();
00121     sensors.sensor1 |= _ser.getc() << 8;
00122     sensors.sensor2 = _ser.getc();
00123     sensors.sensor2 |= _ser.getc() << 8;
00124     sensors.sensor3 = _ser.getc();
00125     sensors.sensor3 |= _ser.getc() << 8;
00126     sensors.sensor4 = _ser.getc();
00127     sensors.sensor4 |= _ser.getc() << 8;
00128     sensors.sensor5 = _ser.getc();
00129     sensors.sensor5 |= _ser.getc() << 8;
00130 
00131     return sensors;
00132 }
00133 
00134 char m3pi::sensor_auto_calibrate() {
00135     _ser.putc(AUTO_CALIBRATE);
00136     return(_ser.getc());
00137 }
00138 
00139 
00140 void m3pi::calibrate(void) {
00141     _ser.putc(PI_CALIBRATE);
00142 }
00143 
00144 void m3pi::reset_calibration() {
00145     _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
00146 }
00147 
00148 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
00149     _ser.putc(max_speed);
00150     _ser.putc(a);
00151     _ser.putc(b);
00152     _ser.putc(c);
00153     _ser.putc(d);
00154 }
00155 
00156 void m3pi::PID_stop() {
00157     _ser.putc(STOP_PID);
00158 }
00159 
00160 float m3pi::pot_voltage(void) {
00161     int volt = 0;
00162     _ser.putc(SEND_TRIMPOT);
00163     volt = _ser.getc();
00164     volt += _ser.getc() << 8;
00165     return(volt);
00166 }
00167 
00168 
00169 void m3pi::leds(int val) {
00170 
00171     BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
00172     _leds = val;
00173 }
00174 
00175 
00176 void m3pi::locate(int x, int y) {
00177     _ser.putc(DO_LCD_GOTO_XY);
00178     _ser.putc(x);
00179     _ser.putc(y);
00180 }
00181 
00182 void m3pi::cls(void) {
00183     _ser.putc(DO_CLEAR);
00184 }
00185 
00186 int m3pi::print (char* text, int length) {
00187     _ser.putc(DO_PRINT);  
00188     _ser.putc(length);       
00189     for (int i = 0 ; i < length ; i++) {
00190         _ser.putc(text[i]); 
00191     }
00192     return(0);
00193 }
00194 
00195 int m3pi::_putc (int c) {
00196     _ser.putc(DO_PRINT);  
00197     _ser.putc(0x1);       
00198     _ser.putc(c);         
00199     wait (0.001);
00200     return(c);
00201 }
00202 
00203 int m3pi::_getc (void) {
00204     char r = 0;
00205     return(r);
00206 }
00207 
00208 int m3pi::putc (int c) {
00209     return(_ser.putc(c));
00210 }
00211 
00212 int m3pi::getc (void) {
00213     return(_ser.getc());
00214 }
00215 
00216 
00217 
00218 
00219 
00220 #ifdef MBED_RPC
00221 const rpc_method *m3pi::get_rpc_methods() {
00222     static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
00223         { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
00224         { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
00225         { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
00226         { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
00227         { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
00228         { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
00229         { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
00230         { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
00231         { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
00232 
00233 
00234         RPC_METHOD_SUPER(Base)
00235     };
00236     return rpc_methods;
00237 }
00238 #endif