Revision 0:df7d60d7a6ee, committed 2012-04-12

Comitter:

nepol77

Date:

Thu Apr 12 14:37:54 2012 +0000

Commit message:

Hi guys, i will put the pictures on very soon!! Thanks for looking

Changed in this revision

diff -r 000000000000 -r df7d60d7a6ee m3pi/m3pi.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/m3pi/m3pi.cpp	Thu Apr 12 14:37:54 2012 +0000
@@ -0,0 +1,234 @@
+/* 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.
+ */
+
+#include "mbed.h"
+#include "m3pi.h"
+
+m3pi::m3pi(PinName nrst, PinName tx, PinName rx) :  Stream("m3pi"), _nrst(nrst), _ser(tx, rx)  {
+    _ser.baud(115200);
+    reset();
+}
+
+m3pi::m3pi() :  Stream("m3pi"), _nrst(p23), _ser(p9, p10)  {
+    _ser.baud(115200);
+    reset();
+}
+
+
+void m3pi::reset () {
+    _nrst = 0;
+    wait (0.01);
+    _nrst = 1;
+    wait (0.1);
+}
+
+void m3pi::left_motor (float speed) {
+    motor(0,speed);
+}
+
+void m3pi::right_motor (float speed) {
+    motor(1,speed);
+}
+
+void m3pi::forward (float speed) {
+    motor(0,speed);
+    motor(1,speed);
+}
+
+void m3pi::backward (float speed) {
+    motor(0,-1.0*speed);
+    motor(1,-1.0*speed);
+}
+
+void m3pi::left (float speed) {
+    motor(0,speed);
+    motor(1,-1.0*speed);
+}
+
+void m3pi::right (float speed) {
+    motor(0,-1.0*speed);
+    motor(1,speed);
+}
+
+void m3pi::stop (void) {
+    motor(0,0.0);
+    motor(1,0.0);
+}
+
+void m3pi::motor (int motor, float speed) {
+    char opcode = 0x0;
+    if (speed > 0.0) {
+        if (motor==1)
+            opcode = M1_FORWARD;
+        else
+            opcode = M2_FORWARD;
+    } else {
+        if (motor==1)
+            opcode = M1_BACKWARD;
+        else
+            opcode = M2_BACKWARD;
+    }
+    unsigned char arg = 0x7f * abs(speed);
+
+    _ser.putc(opcode);
+    _ser.putc(arg);
+}
+
+float m3pi::battery() {
+    _ser.putc(SEND_BATTERY_MILLIVOLTS);
+    char lowbyte = _ser.getc();
+    char hibyte  = _ser.getc();
+    float v = ((lowbyte + (hibyte << 8))/1000.0);
+    return(v);
+}
+
+float m3pi::line_position() {
+    int pos = 0;
+    _ser.putc(SEND_LINE_POSITION);
+    pos = _ser.getc();
+    pos += _ser.getc() << 8;
+    
+    float fpos = ((float)pos - 2048.0)/2048.0;
+    return(fpos);
+}
+
+char m3pi::sensor_auto_calibrate() {
+    _ser.putc(AUTO_CALIBRATE);
+    return(_ser.getc());
+}
+
+
+void m3pi::calibrate(void) {
+    _ser.putc(PI_CALIBRATE);
+}
+
+void m3pi::reset_calibration() {
+    _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
+}
+
+void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
+    _ser.putc(max_speed);
+    _ser.putc(a);
+    _ser.putc(b);
+    _ser.putc(c);
+    _ser.putc(d);
+}
+
+void m3pi::PID_stop() {
+    _ser.putc(STOP_PID);
+}
+
+float m3pi::pot_voltage(void) {
+    int volt = 0;
+    _ser.putc(SEND_TRIMPOT);
+    volt = _ser.getc();
+    volt += _ser.getc() << 8;
+    return(volt);
+}
+
+
+void m3pi::leds(int val) {
+
+    BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
+    _leds = val;
+}
+
+
+void m3pi::locate(int x, int y) {
+    _ser.putc(DO_LCD_GOTO_XY);
+    _ser.putc(x);
+    _ser.putc(y);
+}
+
+void m3pi::cls(void) {
+    _ser.putc(DO_CLEAR);
+}
+
+int m3pi::print (char* text, int length) {
+    _ser.putc(DO_PRINT);  
+    _ser.putc(length);       
+    for (int i = 0 ; i < length ; i++) {
+        _ser.putc(text[i]); 
+    }
+    return(0);
+}
+
+int m3pi::_putc (int c) {
+    _ser.putc(DO_PRINT);  
+    _ser.putc(0x1);       
+    _ser.putc(c);         
+    wait (0.001);
+    return(c);
+}
+
+int m3pi::_getc (void) {
+    char r = 0;
+    return(r);
+}
+
+int m3pi::putc (int c) {
+    return(_ser.putc(c));
+}
+
+int m3pi::getc (void) {
+    return(_ser.getc());
+}
+
+
+void m3pi::readsensor (int *sensor){
+   
+   _ser.putc(SEND_CALIBRATED_SENSOR_VALUES);  
+    sensor[0] = _ser.getc();
+    sensor[0] += _ser.getc() << 8;
+    sensor[1] = _ser.getc();
+    sensor[1] += _ser.getc() << 8;
+    sensor[2] = _ser.getc();
+    sensor[2] += _ser.getc() << 8;
+    sensor[3] = _ser.getc();
+    sensor[3] += _ser.getc() << 8;
+    sensor[4] = _ser.getc();
+    sensor[4] += _ser.getc() << 8;
+  
+    return;
+}
+
+
+#ifdef MBED_RPC
+const rpc_method *m3pi::get_rpc_methods() {
+    static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
+        { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
+        { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
+        { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
+        { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
+        { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
+        { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
+        { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
+        { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
+        { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
+
+
+        RPC_METHOD_SUPER(Base)
+    };
+    return rpc_methods;
+}
+#endif

diff -r 000000000000 -r df7d60d7a6ee m3pi/m3pi.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/m3pi/m3pi.h	Thu Apr 12 14:37:54 2012 +0000
@@ -0,0 +1,244 @@
+/* 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_CALIBRATED_SENSOR_VALUES 0x87
+#define SEND_SIGNATURE 0x81
+#define SEND_RAW_SENSOR_VALUES 0x86
+#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 "m3pi.h"
+
+   m3pi pi;
+
+   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 p23
+     * @param tx Serial transmit pin. Default is p9
+     * @param rx Serial receive pin. Default is p10
+     */
+    m3pi();
+
+
+    /** Create the m3pi object connected to the default pins
+     *
+     */
+    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.
+     *  -1.0 means line is on the left, or the line has been lost
+     *   0.0 means the line is in the middle
+     *   1.0 means the line is on the right
+     */
+    float line_position (void);
+
+
+    /** Calibrate the sensors. This turns the robot left then right, looking 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);
+    
+    /**
+    * 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;
+    
+    void motor (int motor, float speed);
+    virtual int _putc(int c);
+    virtual int _getc();
+
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r df7d60d7a6ee main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Apr 12 14:37:54 2012 +0000
@@ -0,0 +1,336 @@
+#include "mbed.h"
+#include "m3pi.h"
+AnalogIn sensor(p20);
+BusOut leds(LED1,LED2,LED3,LED4);
+m3pi m3pi(p23,p9,p10);
+
+#define MAX 0.5
+#define MIN 0
+
+
+#define P_TERM 1
+#define I_TERM 0
+#define D_TERM 20
+
+// Global variables
+// The path array stores the route info. Each element shows what we did at an intersection
+
+//  'L' for left
+//  'R' for right
+//  'F' for forward
+//  'B' for back 
+//
+char path[1000] = "";
+unsigned char path_length = 0; // the length of the path so far
+ 
+
+void follow_line()
+{
+    float right;
+    float left;
+    float position_of_line = 0.0;
+    float prev_pos_of_line = 0.0;
+    float derivative,proportional;
+    float integral = 0;
+    float power;
+    float speed = MAX;
+    int foundjunction=0;
+    int countdown=150; //make sure we don't stop for a junction too soon after starting
+   int DistanceCM;
+    
+    int sensors[5];    
+    while (foundjunction==0) {
+            DistanceCM =(pow( 1429.4/(sensor), 1.2134))/1000;
+
+            if (DistanceCM == 20)
+            {m3pi.right(0.25);wait(0.60);}
+            
+        // Get the position of the line.
+        position_of_line = m3pi.line_position();
+        proportional = position_of_line;
+        // Compute the derivative
+        derivative = position_of_line - prev_pos_of_line;
+        // Compute the integral
+        integral += proportional;
+         // Remember the last position.
+        prev_pos_of_line = position_of_line;
+        // Compute
+        power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
+        
+        //    Compute new speeds   
+        right = speed+power;
+        left  = speed-power;
+        // limit checks
+        if (right < MIN)
+            right = MIN;
+        else if (right > MAX)
+            right = MAX;
+            
+        if (left < MIN)
+            left = MIN;
+        else if (left > MAX)
+            left = MAX;
+            
+       // set speed 
+        m3pi.left_motor(left);
+        m3pi.right_motor(right);
+
+    if (countdown>0) countdown--; else {
+       // Next, we are going to use the sensors to look for whether there is still a line ahead
+       // and try to detect dead ends and possible left or right turns.
+       m3pi.readsensor(sensors);
+      
+        if(sensors[1] < 100 && sensors[2] < 100 && sensors[3] < 100)
+        {
+            // There is no line visible ahead, and we didn't see any
+            // intersection.  Must be a dead end.
+            foundjunction=1;
+        }
+        else if(sensors[0] > 200 || sensors[4] > 200)
+        {
+            // Found an intersection.
+            foundjunction=1;
+        }
+       } 
+     } 
+
+
+}
+
+// This function decides which way to turn during the learning phase of
+// maze solving.  It uses the variables found_left, found_straight, and
+// found_right, which indicate whether there is an exit in each of the
+// three directions, applying the "left hand on the wall" strategy.
+
+char turn(unsigned char found_left, unsigned char found_forward, unsigned char found_right)
+{
+    // The order of the statements in this "if" is sufficient to implement a follow left-hand wall algorithm
+    if(found_left)
+        return 'L';
+    else if(found_forward)
+        return 'F';
+    else if(found_right)
+        return 'R';
+    else
+        return 'B';
+}
+
+void doturn(unsigned char dir)
+{
+    if (dir=='L')
+        {m3pi.left(0.25);wait(0.28);}   
+     else if(dir=='R')
+      {m3pi.right(0.25);wait(0.28);}  
+    else if(dir=='F')
+      {m3pi.forward(0.3);wait(0.15);}
+     else if(dir=='B')
+      {m3pi.right(0.25);wait(0.6);}
+       
+        return;
+}
+
+// change LBL to S (etc), to bypass dead ends
+void simplify()
+{
+    // only simplify the path if the second-to-last turn was a 'B'
+    if(path_length < 3 || path[path_length-2] != 'B')
+        return;
+
+
+    int total_angle = 0;
+    int i;
+    for(i=1;i<=3;i++)
+    {
+        switch(path[path_length-i])
+        {
+        case 'R':
+            total_angle += 90;
+            break;
+        case 'L':
+            total_angle += 270;
+            break;
+        case 'B':
+            total_angle += 180;
+            break;
+        }
+    }
+
+    // Get the angle as a number between 0 and 360 degrees.
+    total_angle = total_angle % 360;
+
+    // Replace all of those turns with a single one.
+    switch(total_angle)
+    {
+    case 0:
+        path[path_length - 3] = 'F';
+        break;
+    case 90:
+        path[path_length - 3] = 'R';
+        break;
+    case 180:
+        path[path_length - 3] = 'B';
+        break;
+    case 270:
+        path[path_length - 3] = 'L';
+        break;
+    }
+
+    // The path is now two steps shorter.
+    path_length -= 2;
+}
+
+// This function is called once, from main.c.
+void mazesolve()
+{
+    // These variables record whether the robot has seen a line to the    
+    // left, straight ahead, and right, while examining the current
+    // intersection.
+        unsigned char found_left=0;
+        unsigned char found_forward=0;
+        unsigned char found_right=0;
+    int sensors[5];
+    // Loop until we have solved the maze.
+    while(1)
+    {
+    
+        // Follow the line until an intersection is detected
+        follow_line();
+
+        // Inch forward a bit.  This helps us in case we entered the
+        // intersection at an angle.
+         m3pi.forward(0.1);
+         wait(0.07);
+        found_left=0;found_forward=0;found_right=0;
+    
+        
+        // Now read the sensors and check the intersection type.
+
+ 
+      
+        m3pi.forward(0.0);    
+      
+        // Check for a forward exit.
+        m3pi.readsensor(sensors);
+        if(sensors[1] > 200 || sensors[2] > 200 || sensors[3] > 200)
+            found_forward = 1;
+        
+               m3pi.readsensor(sensors);
+
+        // Check for left and right exits.
+        if(sensors[0] > 100)
+            found_left = 1;
+        if(sensors[4] > 100)
+            found_right = 1;
+        
+        //debug code
+        m3pi.cls();
+        if (found_left==1)
+           m3pi.printf("L");
+        if (found_right==1)
+           m3pi.printf("R");
+        if (found_forward==1)
+           m3pi.printf("F");
+       // wait (2);
+        // Check for the ending spot.
+        // If all five sensors are on dark black, we have
+        // solved the maze.
+       if(sensors[0] > 310 && sensors[1] > 310 && sensors[2] > 310 && sensors[3] > 310&& sensors[4] > 310)
+      
+            break;
+ 
+        // Drive straight a bit more - this is enough to line up our
+        // wheels with the intersection.
+        
+
+        unsigned char dir = turn(found_left, found_forward, found_right);
+
+        // Make the turn indicated by the path.
+        doturn(dir);
+
+        // Store the intersection in the path variable.
+        path[path_length] = dir;
+        path_length ++;
+
+        // Need to insert check to make sure that the path_length does not
+        // exceed the bounds of the array.  
+
+        // Simplify the learned path.
+        simplify();
+
+    }
+
+    // Solved the maze!
+
+    // Now enter an infinite loop - we can re-run the maze as many
+    // times as we want to.
+    while(1)
+    {
+
+        m3pi.forward(0.0);
+        m3pi.printf("Finished");
+
+    // wait 15s to give time to turn off, or put the robot back to the start
+    wait(15);
+    // ideally we would use a button press here       
+    // but I don't think it can easily be read
+
+        // Re-run the maze.  It's not necessary to identify the
+        // intersections, so this loop is really simple.
+        int i;
+        for(i=0;i<path_length;i++)
+        {
+             
+            follow_line();
+
+            // Drive straight while slowing down
+            m3pi.forward(0.3);
+            wait(0.1);
+
+            // Make a turn according to the instruction stored in
+            // path[i].
+            doturn(path[i]);
+        }
+        
+        // Follow the last segment up to the finish.
+        follow_line();
+
+        // Now we should be at the finish!  Restart the loop.
+    }
+}
+
+ void checksensors()
+{
+int sensors[5];
+while (1) {
+      m3pi.readsensor(sensors);
+        m3pi.cls();
+        if (sensors[0]>200)
+           m3pi.printf("D");
+           else  m3pi.printf("L");
+        if (sensors[1]>200)
+           m3pi.printf("D");
+           else  m3pi.printf("L");     
+             if (sensors[2]>200)
+           m3pi.printf("D");
+           else  m3pi.printf("L");
+             if (sensors[3]>200)
+           m3pi.printf("D");
+           else  m3pi.printf("L");
+             if (sensors[4]>200)
+           m3pi.printf("D");
+           else  m3pi.printf("L");
+    }
+}
+int main() {
+  
+    m3pi.locate(0,1);
+    m3pi.sensor_auto_calibrate();
+    m3pi.printf("MazeSolve");
+
+    wait(2.0);
+
+  mazesolve();
+
+m3pi.forward(0.0);
+
+}

diff -r 000000000000 -r df7d60d7a6ee mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Apr 12 14:37:54 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e

diff -r 000000000000 -r df7d60d7a6ee sharp_pid.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sharp_pid.lib	Thu Apr 12 14:37:54 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Tomas/code/SHARPIR/#323d66022af5