Revision 0:342c14fb10c0, committed 2012-03-14

Comitter:

p07gbar

Date:

Wed Mar 14 20:31:09 2012 +0000

Commit message:

First upload

Changed in this revision

diff -r 000000000000 -r 342c14fb10c0 SharpDigiDist100/SharpDigiDist100.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SharpDigiDist100/SharpDigiDist100.cpp	Wed Mar 14 20:31:09 2012 +0000
@@ -0,0 +1,56 @@
+#include "SharpDigiDist100.h"
+
+SharpDigiDist100::SharpDigiDist100(PinName pin):intin(pin),pinin(pin)
+{
+timer1.reset();
+intin.rise(this,&SharpDigiDist100::onInt);
+intin.fall(this,&SharpDigiDist100::onInt);
+timer1.start();
+//onInt();
+current = Far;
+//last = NA;
+onChangeAttached = false;
+}
+
+void SharpDigiDist100::onInt()
+{
+    timer1.stop();
+    last = current;
+    int timeFromLast = timer1.read_ms();
+    if (timeFromLast < 100)
+    {
+        current = Far;
+        timeout.attach(this,&SharpDigiDist100::onInt, 0.3);
+    }
+    else
+    {
+        if(pinin)
+        {
+            current = Mid;
+        }
+        else
+        {
+            current = Near;
+        }
+    }
+    if(current != last)
+    {
+        if(onChangeAttached)
+        {
+      onChange();
+      }
+    }
+    timer1.reset();
+    timer1.start();
+}
+
+int SharpDigiDist100::getDistance()
+{
+    return current;
+}
+
+void SharpDigiDist100::attachOnChange(void (*ptr) (void))
+{
+    onChange = ptr;
+    onChangeAttached = true;
+}
\ No newline at end of file

diff -r 000000000000 -r 342c14fb10c0 SharpDigiDist100/SharpDigiDist100.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SharpDigiDist100/SharpDigiDist100.h	Wed Mar 14 20:31:09 2012 +0000
@@ -0,0 +1,75 @@
+#ifndef SHARPDIGIDIST100_H
+#define SHARPDIGIDIST100_H
+
+#include "mbed.h"
+
+/** A class which interfaces with  a Sharp Digital Distance sensor (GP2Y0D810)
+ *
+ *  Example:
+ * @code
+ * 
+ * @endcode
+ *
+ */
+
+class SharpDigiDist100
+{
+public:
+
+/** Create a sensor input
+ *
+ * @param pin The pin the output of the sensor is connected to
+ */
+ 
+SharpDigiDist100(PinName pin);
+
+/** The enum which makes up the output
+ * 
+ */
+
+enum Distance
+{
+    Near = 1,
+    Mid,
+    Far
+};
+
+/** Returns the distace as an enum
+ *
+ * @return The distance code: 1 is near, 2 is middle distance and 3 is far
+ */
+ 
+int getDistance();
+
+/** Attaches a function which is called on distance change
+ *
+ * @param A pointer to a function with params/returns: void func(void)
+ */
+
+void attachOnChange(void (*ptr) (void));
+
+
+protected:
+
+InterruptIn intin;
+
+DigitalIn pinin;
+
+Timer timer1;
+
+enum Distance current;
+
+enum Distance last;
+
+void onInt();
+
+Timeout timeout;
+
+void (*onChange) (void);
+
+bool onChangeAttached;
+
+//DigitalOut Debug;
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 342c14fb10c0 m3pi/m3pi.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/m3pi/m3pi.cpp	Wed Mar 14 20:31:09 2012 +0000
@@ -0,0 +1,284 @@
+/* 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);
+}
+
+void m3pi::get_raw_sensors(int* values) {
+    _ser.putc(SEND_RAW_SENSOR_VALUES);
+    for (int i = 0; i<5; i++) {
+        while(_ser.readable() == 0){}
+        values[i] = _ser.getc();
+        while(_ser.readable() == 0){}
+        values[i] += _ser.getc() << 8;
+        //values[i] -= raw_white_levels[i];
+    }
+}
+
+
+void m3pi::get_calibrated_sensors(float* values) {
+    int temp[5];
+    _ser.putc(SEND_CALIBRATED_SENSOR_VALUES);
+    for (int i = 0; i<5; i++) {
+        temp[i] = _ser.getc();
+        temp[i] += _ser.getc() << 8;
+        values[i] = float(temp[i]) / 1000;
+    }
+}
+
+void m3pi::get_white_levels() {
+    get_raw_sensors(raw_white_levels);
+}
+
+int m3pi::is_line()
+{
+    int ret = 0;
+    int edgeCount = 0;
+    int temp[5];
+    get_raw_sensors(temp);
+    for(int i = 0; i <5 ; i++)
+    {
+        if(temp[i] - raw_white_levels[i]>= LINE_THRESHOLD)
+        {
+        ret++;
+        if(i == 0|| i== 4)
+        {
+            edgeCount--;
+        }
+        else
+        {
+            edgeCount++;
+        }
+        }
+        
+    }
+    
+    if(edgeCount >=0 && ret>0)
+    {
+       return 1;
+    }
+    else if(edgeCount <0 && ret>0)
+    {
+        return -1;    
+    }
+    else
+    {
+        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());
+}
+
+
+
+
+
+#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 342c14fb10c0 m3pi/m3pi.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/m3pi/m3pi.h	Wed Mar 14 20:31:09 2012 +0000
@@ -0,0 +1,270 @@
+/* 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
+
+
+#define LINE_THRESHOLD 100
+
+
+/** 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
+     *
+     */
+    m3pi();
+
+
+    
+     
+     /** Create the m3pi object connected to the spesific 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(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);
+    
+    /** Get the raw sensor values
+     *
+     * @param int* A pointer to a interger array
+     */
+    void get_raw_sensors(int* values);
+    
+    /** Get the calibrated sensor values
+     *
+     * @param int* A pointer to an float array
+     */
+    void get_calibrated_sensors(float* values);
+    
+    /** Records current levels as white, values used to detect a line
+     *
+     */
+    void get_white_levels();
+    
+    /** Gets the line state
+     *
+     * @returns The line status: 0 means no line, -1 means line at back two sensors, 1 means line at front sensors
+     */
+    
+    int is_line();
+
+
+    /** 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();
+    
+    int raw_white_levels[5];
+
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 342c14fb10c0 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 14 20:31:09 2012 +0000
@@ -0,0 +1,438 @@
+/**
+Author: Giles Barton-Owen
+Name: mbed ranger
+Description:
+
+This program keeps a m3pi inside a ring, and has 6 (4 Active) different game modes.
+It relies on a Sharp Digital Distance sensor (GP2Y0D810) attached to pin 30 and 11 
+(the two headers on the right and left of the board). The system refreshes at 10Hz
+when it reads the line sensors on the 3pi and the distance states. The states are
+then handled in a big FSM to reach the conclusions.
+
+To keep the robot saving itself for longer a timeout was programmed, such that the
+robot belives itself on a line (as was reported when the timeout was set) until 
+0.3 seconds has elapsed. This could be adjusted.
+
+The fore-ground loop just switches the LEDs on the board as instructed. The current
+state of the robot is reported on line 2 of the LCD screen on the 3pi, displaying
+first mode and the last character being line detection state (none, front, back).
+
+
+**/
+
+#include "mbed.h"
+#include "SharpDigiDist100.h"
+#include "m3pi.h"
+
+DigitalOut Left[2] = {LED1,LED2};           //Some indicator LEDs for the range finders
+DigitalOut Right[2] = {LED4,LED3};
+
+SharpDigiDist100 right(p30);                // The range finder class initialisations
+SharpDigiDist100 left(p11);
+
+m3pi m3pi;                                  // Initialise the m3pi
+
+InterruptIn button(p21);                    // SW1 on the shield, for stratergy switching
+
+Ticker guidance;                            // The main guidance caller
+
+Serial pc(USBTX, USBRX);                    // For debugging and pc messages, uses commented out to prevent hanging
+
+Timer debounce;                             // To debounce the switch
+
+int previousLine;                           // A set of variables to sort out the line detection, previousLine is pretty much not used
+int isLine;
+int lineCatch;
+
+Timeout liner;                              // A timeout to stop it ignoring the line
+
+void CycleMode();                           // Function defs
+void guideCall();
+void clearLiner();
+
+enum Stratergies {                          // The enum for stratergies
+    Off,
+    Dormant,
+    RunMid,
+    RunNear,
+    AttackMid,
+    AttackFar,
+    Hunt
+};
+
+void updateScreen(int line, enum Stratergies stratergy);
+
+enum Stratergies stratMode = Off;       // The current stratergy
+
+int main() {
+    guidance.attach(&guideCall,0.1);        // Sets up the control loop
+    
+    button.mode(PullUp);                    // Sets the internal pull up on SW1
+    button.fall(&CycleMode);                // Attaches an interupt for when it is pressed
+    
+    m3pi.locate(0,0);                       // Write the name to the screen
+    m3pi.printf("m3PiRngr");                
+    
+    m3pi.get_white_levels();                // Saves the current levels of the sensors to know what is white
+    
+    debounce.start();                       // Starts the debounce timer so that the switch thinks it isnt a bounce first time
+    
+    //pc.printf("\n\n\rMbedRanger\n\r");      // Prints a hello to the computer
+    
+    while (1) {
+        //pc.printf("Loop\n\r");
+        switch (right.getDistance()) {      // Sets up the distance indicator LEDs for the right side
+            case SharpDigiDist100::Far :
+                Right[0] = true;
+                Right[1] = false;
+                break;
+            case SharpDigiDist100::Near :
+                Right[1] = true;
+                Right[0] = false;
+                break;
+            case SharpDigiDist100::Mid :
+                Right[0] = true;
+                Right[1] = true;
+                break;
+            default:
+                break;
+        }
+        switch (left.getDistance()) {       // Sets up the distance indicator LEDs for the left side
+            case SharpDigiDist100::Far :
+                Left[0] = true;
+                Left[1] = false;
+                break;
+            case SharpDigiDist100::Near :
+                Left[1] = true;
+                Left[0] = false;
+                break;
+            case SharpDigiDist100::Mid :
+                Left[0] = true;
+                Left[1] = true;
+                break;
+            default:
+                break;
+        }
+        /*int calibrated[5];
+        m3pi.get_raw_sensors(calibrated);
+         pc.printf("Sensors read:");
+        for (int i = 0; i<5;i++) {
+            pc.printf(" %i ",calibrated[i]);
+        }
+        if (m3pi.is_line() > 0) {
+            pc.printf("LINE");
+            m3pi.locate(0,1);
+            m3pi.printf("LINE");
+        }
+        pc.printf("\n\r");
+        wait(0.1);*/
+    }
+}
+
+
+
+void CycleMode() {                      // Cycles through the modes, probably could have written this with a simple ++ statement...
+    debounce.stop();                    // Stops and reads the timer since the last press of the button
+    if (debounce.read_ms() > 100) {     // If it was more than 100ms ago it treats it as a button press, otherwise it just ignores it
+        switch (stratMode) {
+            case Off:
+                stratMode = Dormant;
+                m3pi.locate(0,1);
+                m3pi.printf("\nDormant ");
+                break;
+            case Dormant:
+                stratMode = RunMid;
+                m3pi.locate(0,1);
+                m3pi.printf("\nRunMid ");
+                break;
+            case RunMid:
+                stratMode = RunNear;
+                m3pi.locate(0,1);
+                m3pi.printf("\nRunNear ");
+                break;
+            case RunNear:
+                stratMode = AttackMid;
+                m3pi.locate(0,1);
+                m3pi.printf("\nTakNear ");
+                break;
+            case AttackMid:
+                stratMode = AttackFar;
+                m3pi.locate(0,1);
+                m3pi.printf("\nTakFar ");
+                break;
+            case AttackFar:
+                stratMode = Hunt;
+                m3pi.locate(0,1);
+                m3pi.printf("\nHUNTING! ");
+                break;
+            case Hunt:
+                stratMode = Off;
+                m3pi.printf("\nOFF ");
+                break;
+        }
+    }
+    debounce.reset();
+    debounce.start();
+}
+
+void guideCall() {
+
+    isLine = m3pi.is_line();            // Gets whether the m3pi is on a line, and if so front/back
+    
+    if (lineCatch == 0) {               // Has it been off a line for long enough?
+        isLine = isLine;                // Yes - then go ahead
+    } else {
+        isLine = lineCatch;             // No - pretend to still be on that line
+        
+    }
+    float position;                     
+    
+    switch (isLine) {
+        case 0:                         // No line, not even recently so go ahead with the stratergies
+            
+            updateScreen(isLine, stratMode);
+            bool atRight = false;
+            bool atLeft = false;
+            
+            switch (stratMode) {
+                case Off:               // No motors
+                case Dormant:           // Will take action against lines though
+                    m3pi.stop();
+                    break;
+
+                case RunNear:           // Runs if something is near
+                    if (right.getDistance() == SharpDigiDist100::Near) {
+                        atRight = true;
+                    } else atRight = false;
+                    if (left.getDistance() == SharpDigiDist100::Near) {
+                        atLeft = true;
+                    } else atLeft = false;
+
+                case RunMid:            // Runs if something is in the middle distance
+
+                    if (right.getDistance() == SharpDigiDist100::Mid) {
+                        atRight = true;
+                    }
+                    if (left.getDistance() == SharpDigiDist100::Mid) {
+                        atLeft = true;
+                    }
+
+
+                    if (atRight && atLeft) {
+                        m3pi.backward(0.5);
+                    } else {
+                        if (atRight == true) {
+                            m3pi.left_motor(-0.3);
+                            m3pi.right_motor(-0.5);
+                        } else {
+                            if (atLeft == true) {
+                                m3pi.left_motor(-0.5);
+                                m3pi.right_motor(-0.3);
+                            } else {
+                                m3pi.stop();
+                            }
+                        }
+                    }
+                    break;
+
+                case AttackMid:         // Attacks something in the middle distance
+                    if (right.getDistance() == SharpDigiDist100::Mid) {
+                        atRight = true;
+                    }
+                    if (left.getDistance() == SharpDigiDist100::Mid) {
+                        atLeft = true;
+                    }
+
+
+                    if (atRight && atLeft) {
+                        m3pi.forward(0.6);
+                    } else {
+                        if (atRight == true) {
+                            m3pi.left_motor(0.5);
+                            m3pi.right_motor(0.7);
+                        } else {
+                            if (atLeft == true) {
+                                m3pi.left_motor(0.7);
+                                m3pi.right_motor(0.5);
+                            } else {
+                                m3pi.stop();
+                            }
+                        }
+                    }
+
+                    if (right.getDistance() == SharpDigiDist100::Near) {
+                        atRight = true;
+                    } else atRight = false;
+                    if (left.getDistance() == SharpDigiDist100::Near) {
+                        atLeft = true;
+                    } else atLeft = false;
+
+
+                    if (atRight && atLeft) {
+                        m3pi.forward(0.5);
+                    } else {
+                        if (atRight == true) {
+                            m3pi.left_motor(0.1);
+                            m3pi.right_motor(0.2);
+                        } else {
+                            if (atLeft == true) {
+                                m3pi.left_motor(0.2);
+                                m3pi.right_motor(0.1);
+                            }
+                        }
+                    }
+
+                    break;
+
+                case AttackFar:
+
+                    break;
+                case Hunt:                  // Runs forward until something is really close
+
+                    if (right.getDistance() == SharpDigiDist100::Mid || right.getDistance() == SharpDigiDist100::Near) {
+                        atRight = true;
+                    } else atRight = false;
+                    if (left.getDistance() == SharpDigiDist100::Mid || left.getDistance() == SharpDigiDist100::Near) {
+                        atLeft = true;
+                    } else atLeft = false;
+
+                    if (atRight && atLeft) {
+                        m3pi.stop();
+                    } else {
+                        if (atRight == true) {
+                            m3pi.left_motor(0.1);
+                            m3pi.right_motor(0.2);
+                        } else {
+                            if (atLeft == true) {
+                                m3pi.left_motor(0.2);
+                                m3pi.right_motor(0.1);
+                            } else {
+                                m3pi.forward(0.3);
+                            }
+                        }
+                    }
+                    break;
+                default:
+                    break;
+            }
+            break;
+
+        case 1:                 // Line in front, reverse
+            if(stratMode != Off)
+            {
+            if (lineCatch == 0) {
+                lineCatch = 1;
+
+                liner.attach(&clearLiner, 0.3);
+            }
+
+            position = m3pi.line_position();
+            if (position < 0) {
+                m3pi.left_motor(-1);
+                m3pi.right_motor(-0.8);
+            } else if (position == 0) {
+                m3pi.backward(1);
+            } else if (position > 0) {
+                m3pi.left_motor(-0.8);
+                m3pi.right_motor(-1);
+            }
+
+            //m3pi.locate(0,1);
+            //m3pi.printf("LINE_FWD");
+            }
+            else
+            {
+                m3pi.stop();
+            }
+            updateScreen(isLine, stratMode);
+            break;
+
+        case -1:            // Line behind, forward
+            if(stratMode != Off)
+            {
+            if (lineCatch == 0) {
+                lineCatch = -1;
+                liner.attach(&clearLiner, 0.3);
+            }
+
+
+            position = m3pi.line_position();
+            if (position < 0) {
+                m3pi.left_motor(1);
+                m3pi.right_motor(0.8);
+            } else if (position == 0) {
+                m3pi.forward(1);
+            } else if (position > 0) {
+                m3pi.left_motor(0.8);
+                m3pi.right_motor(1);
+            }
+            }
+            else
+            {
+                m3pi.stop();
+            }
+            //m3pi.locate(0,1);
+            //m3pi.printf("LINE_BKD");
+            updateScreen(isLine, stratMode);
+            break;
+    }
+
+    //previousLine = isLine;
+}
+
+void clearLiner() {             // Gets called a bit after a line is detected
+    lineCatch = 0;
+    //pc.printf("Cleared liner\n\r");
+}
+
+void updateScreen(int line, enum Stratergies stratergy) {       // Update the bottom line with the running info
+    m3pi.locate(0,1);
+    
+    char lineState;
+    
+    switch (line) {
+        case 0:
+            lineState = 'N';
+            break;
+        case 1:
+            lineState = 'F';
+            break;
+        case -1:
+            lineState = 'B';
+            break;
+        default:
+            break;
+    }
+
+    char strat[6];
+    switch (stratergy) {
+        case Off:
+            sprintf(strat,"OFF   ");
+            break;
+        case Dormant:
+            sprintf(strat,"DORMNT");
+            break;
+        case RunMid:
+            sprintf(strat,"RUNMID");
+
+            break;
+        case RunNear:
+            sprintf(strat,"RNNEAR");
+
+            break;
+        case AttackMid:
+            sprintf(strat,"TAKMID");
+
+            break;
+        case AttackFar:
+            sprintf(strat,"TAKFAR");
+
+            break;
+        case Hunt:
+            sprintf(strat,"HUNTER");
+
+            break;
+    }
+
+    m3pi.printf("%s %c",strat,lineState);
+}
\ No newline at end of file

diff -r 000000000000 -r 342c14fb10c0 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Mar 14 20:31:09 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912