Library for the m3pi robot. This works with a Pololu 3pi robot with the Serial Slave firmware, and exposes and API. This is a fork of cstyles m3pi library.
Dependents: configure_btbee m3pi_btTest Test_SlowDown TurnAround ... more
Fork of m3pi by
Diff: m3pi_ng.h
- Revision:
- 9:deb9547909c3
- Child:
- 10:f89d2a3a9ed2
diff -r 4b7d6ea9b35b -r deb9547909c3 m3pi_ng.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi_ng.h Mon May 13 10:54:18 2013 +0000 @@ -0,0 +1,256 @@ +/* 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. + * + * This is a modified version of the library. Modifications by ngoldin, 2013 + * These are raw_sensor(), calibrated_sensor(), signature() and a bugfix in motor() + * + */ + +#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 "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 specific pins + * + */ + m3pi(PinName nrst, PinName tx, PinName rx); + + /** Get the signature + returns length 6 char array + */ + char * signature (void); + + /** Get the raw sensor values + */ + int * raw_sensor (void); + + /** Get the calibrated sensor values + */ + int * calibrated_sensor (void); + + /** Play music using the buzzer + */ + void playtune (char* text, int length); + + /** 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); + +#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