m3pi.h

00001 /* mbed m3pi Library
00002  * Copyright (c) 2007-2010 cstyles
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #ifndef M3PI_H
00024 #define M3PI_H
00025 
00026 #include "mbed.h"
00027 #include "platform.h"
00028 
00029 #ifdef MBED_RPC
00030 #include "rpc.h"
00031 #endif
00032 
00033 #define SEND_SIGNATURE 0x81
00034 #define SEND_RAW_SENSOR_VALUES 0x86
00035 #define SEND_TRIMPOT 0xB0
00036 #define SEND_BATTERY_MILLIVOLTS 0xB1
00037 #define DO_PLAY 0xB3
00038 #define PI_CALIBRATE 0xB4
00039 #define DO_CLEAR 0xB7
00040 #define DO_PRINT 0xB8
00041 #define DO_LCD_GOTO_XY 0xB9
00042 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
00043 #define SEND_LINE_POSITION 0xB6
00044 #define AUTO_CALIBRATE 0xBA
00045 #define SET_PID 0xBB
00046 #define STOP_PID 0xBC
00047 #define M1_FORWARD 0xC1
00048 #define M1_BACKWARD 0xC2
00049 #define M2_FORWARD 0xC5
00050 #define M2_BACKWARD 0xC6
00051 
00052 
00053 
00054 /** m3pi control class
00055  *
00056  * Example:
00057  * @code
00058  * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
00059 
00060    #include "mbed.h"
00061    #include "m3pi.h"
00062 
00063    m3pi pi;
00064 
00065    int main() {
00066 
00067      wait(0.5);
00068 
00069      pi.forward(0.5);
00070      wait (0.5);
00071      pi.left(0.5);
00072      wait (0.5);
00073      pi.backward(0.5);
00074      wait (0.5);
00075      pi.right(0.5);
00076      wait (0.5);
00077 
00078      pi.stop();
00079 
00080  }
00081  * @endcode
00082  */
00083 class m3pi :  public Stream {
00084 
00085     // Public functions
00086 public:
00087 
00088     /** Create the m3pi object connected to the default pins
00089      *
00090      * @param nrst GPIO pin used for reset. Default is p23
00091      * @param tx Serial transmit pin. Default is p9
00092      * @param rx Serial receive pin. Default is p10
00093      */
00094     m3pi();
00095 
00096 
00097     /** Create the m3pi object connected to specific pins
00098      *
00099      */
00100     m3pi(PinName nrst, PinName tx, PinName rx);
00101 
00102 
00103 
00104     /** Force a hardware reset of the 3pi
00105      */
00106     void reset (void);
00107 
00108     /** Directly control the speed and direction of the left motor
00109      *
00110      * @param speed A normalised number -1.0 - 1.0 represents the full range.
00111      */
00112     void left_motor (float speed);
00113 
00114     /** Directly control the speed and direction of the right motor
00115      *
00116      * @param speed A normalised number -1.0 - 1.0 represents the full range.
00117      */
00118     void right_motor (float speed);
00119 
00120     /** Drive both motors forward as the same speed
00121      *
00122      * @param speed A normalised number 0 - 1.0 represents the full range.
00123      */
00124     void forward (float speed);
00125 
00126     /** Drive both motors backward as the same speed
00127      *
00128      * @param speed A normalised number 0 - 1.0 represents the full range.
00129      */
00130     void backward (float speed);
00131 
00132     /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
00133      *
00134      * @param speed A normalised number 0 - 1.0 represents the full range.
00135      */
00136     void left (float speed);
00137 
00138     /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
00139      * @param speed A normalised number 0 - 1.0 represents the full range.
00140      */
00141     void right (float speed);
00142 
00143     /** Stop both motors
00144      *
00145      */
00146     void stop (void);
00147 
00148     /** Read the voltage of the potentiometer on the 3pi
00149      * @returns voltage as a float
00150      *
00151      */
00152     float pot_voltage(void);
00153 
00154     /** Read the battery voltage on the 3pi
00155      * @returns battery voltage as a float
00156      */
00157     float battery(void);
00158 
00159     /** Read the position of the detected line
00160      * @returns position as A normalised number -1.0 - 1.0 represents the full range.
00161      *  -1.0 means line is on the left, or the line has been lost
00162      *   0.0 means the line is in the middle
00163      *   1.0 means the line is on the right
00164      */
00165     float line_position (void);
00166 
00167 
00168     /** Calibrate the sensors. This turns the robot left then right, looking for a line
00169      *
00170      */
00171     char sensor_auto_calibrate (void);
00172 
00173     /** Set calibration manually to the current settings.
00174      *
00175      */
00176     void calibrate(void);
00177 
00178     /** Clear the current calibration settings
00179      *
00180      */
00181     void reset_calibration (void);
00182 
00183     void PID_start(int max_speed, int a, int b, int c, int d);
00184 
00185     void PID_stop();
00186 
00187     /** Write to the 8 LEDs
00188      *
00189      * @param leds An 8 bit value to put on the LEDs
00190      */
00191     void leds(int val);
00192 
00193     /** Locate the cursor on the 8x2 LCD
00194      *
00195      * @param x The horizontal position, from 0 to 7
00196      * @param y The vertical position, from 0 to 1
00197      */
00198     void locate(int x, int y);
00199 
00200     /** Clear the LCD
00201      *
00202      */
00203     void cls(void);
00204 
00205     /** Send a character directly to the 3pi serial interface
00206      * @param c The character to send to the 3pi
00207      */
00208     int putc(int c);
00209 
00210     /** Receive a character directly to the 3pi serial interface
00211      * @returns c The character received from the 3pi
00212      */
00213     int getc();
00214 
00215     /** Send a string buffer to the 3pi serial interface
00216      * @param text A pointer to a char array
00217      * @param int The character to send to the 3pi
00218      */
00219     int print(char* text, int length);
00220     
00221     struct LineSensors {
00222         uint16_t sensor1;
00223         uint16_t sensor2;
00224         uint16_t sensor3;
00225         uint16_t sensor4;
00226         uint16_t sensor5;
00227     };
00228     
00229     const LineSensors get_raw_sensors(void);
00230     
00231 
00232 #ifdef MBED_RPC
00233     virtual const struct rpc_method *get_rpc_methods();
00234 #endif
00235 
00236 private :
00237 
00238     DigitalOut _nrst;
00239     Serial _ser;
00240     
00241     void motor (int motor, float speed);
00242     virtual int _putc(int c);
00243     virtual int _getc();
00244 
00245 };
00246 
00247 #endif