Richard Firth / m3pi

added buzzer function

Fork of m3pi by Chris Styles

m3pi.cpp@10:d0bb2b822af8, 2016-01-18 (annotated)

Committer:
richardfirth
Date:
Mon Jan 18 05:35:59 2016 +0000
Revision:
10:d0bb2b822af8
Parent:
9:3053f0dbd8d6 
with buzzer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:e6020bd04b45 1 /* m3pi Library
chris 0:e6020bd04b45 2 *
chris 0:e6020bd04b45 3 * Copyright (c) 2007-2010 cstyles
chris 0:e6020bd04b45 4 *
chris 0:e6020bd04b45 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
chris 0:e6020bd04b45 6 * of this software and associated documentation files (the "Software"), to deal
chris 0:e6020bd04b45 7 * in the Software without restriction, including without limitation the rights
chris 0:e6020bd04b45 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chris 0:e6020bd04b45 9 * copies of the Software, and to permit persons to whom the Software is
chris 0:e6020bd04b45 10 * furnished to do so, subject to the following conditions:
chris 0:e6020bd04b45 11 *
chris 0:e6020bd04b45 12 * The above copyright notice and this permission notice shall be included in
chris 0:e6020bd04b45 13 * all copies or substantial portions of the Software.
chris 0:e6020bd04b45 14 *
chris 0:e6020bd04b45 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chris 0:e6020bd04b45 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chris 0:e6020bd04b45 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chris 0:e6020bd04b45 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chris 0:e6020bd04b45 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chris 0:e6020bd04b45 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chris 0:e6020bd04b45 21 * THE SOFTWARE.
chris 0:e6020bd04b45 22 */
richardfirth 9:3053f0dbd8d6 23
richardfirth 9:3053f0dbd8d6 24 // sdfsgsg
chris 0:e6020bd04b45 25
chris 0:e6020bd04b45 26 #include "mbed.h"
chris 0:e6020bd04b45 27 #include "m3pi.h"
chris 0:e6020bd04b45 28
chris 7:9b128cebb3c2 29 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) {
chris 0:e6020bd04b45 30 _ser.baud(115200);
chris 0:e6020bd04b45 31 reset();
chris 0:e6020bd04b45 32 }
chris 0:e6020bd04b45 33
chris 7:9b128cebb3c2 34 m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) {
chris 7:9b128cebb3c2 35 _ser.baud(115200);
chris 7:9b128cebb3c2 36 reset();
chris 7:9b128cebb3c2 37 }
chris 7:9b128cebb3c2 38
chris 7:9b128cebb3c2 39
chris 0:e6020bd04b45 40 void m3pi::reset () {
chris 0:e6020bd04b45 41 _nrst = 0;
chris 0:e6020bd04b45 42 wait (0.01);
chris 0:e6020bd04b45 43 _nrst = 1;
chris 6:62ee1486ecb9 44 wait (0.1);
chris 0:e6020bd04b45 45 }
chris 0:e6020bd04b45 46
chris 0:e6020bd04b45 47 void m3pi::left_motor (float speed) {
chris 0:e6020bd04b45 48 motor(0,speed);
chris 0:e6020bd04b45 49 }
chris 0:e6020bd04b45 50
chris 0:e6020bd04b45 51 void m3pi::right_motor (float speed) {
chris 0:e6020bd04b45 52 motor(1,speed);
chris 0:e6020bd04b45 53 }
chris 0:e6020bd04b45 54
chris 0:e6020bd04b45 55 void m3pi::forward (float speed) {
chris 0:e6020bd04b45 56 motor(0,speed);
chris 0:e6020bd04b45 57 motor(1,speed);
chris 0:e6020bd04b45 58 }
chris 0:e6020bd04b45 59
chris 0:e6020bd04b45 60 void m3pi::backward (float speed) {
chris 0:e6020bd04b45 61 motor(0,-1.0*speed);
chris 0:e6020bd04b45 62 motor(1,-1.0*speed);
chris 0:e6020bd04b45 63 }
chris 0:e6020bd04b45 64
chris 0:e6020bd04b45 65 void m3pi::left (float speed) {
chris 0:e6020bd04b45 66 motor(0,speed);
chris 0:e6020bd04b45 67 motor(1,-1.0*speed);
chris 0:e6020bd04b45 68 }
chris 0:e6020bd04b45 69
chris 0:e6020bd04b45 70 void m3pi::right (float speed) {
chris 0:e6020bd04b45 71 motor(0,-1.0*speed);
chris 0:e6020bd04b45 72 motor(1,speed);
chris 0:e6020bd04b45 73 }
chris 0:e6020bd04b45 74
chris 0:e6020bd04b45 75 void m3pi::stop (void) {
chris 0:e6020bd04b45 76 motor(0,0.0);
chris 0:e6020bd04b45 77 motor(1,0.0);
chris 0:e6020bd04b45 78 }
chris 0:e6020bd04b45 79
richardfirth 10:d0bb2b822af8 80
richardfirth 10:d0bb2b822af8 81
richardfirth 10:d0bb2b822af8 82 // Richard Added
richardfirth 10:d0bb2b822af8 83
richardfirth 10:d0bb2b822af8 84 int m3pi::playBuzzer (char* tune) {
richardfirth 10:d0bb2b822af8 85 _ser.putc(DO_PLAY);
richardfirth 10:d0bb2b822af8 86 _ser.putc(strlen(tune));
richardfirth 10:d0bb2b822af8 87 for (int i = 0 ; i < strlen(tune) ; i++) {
richardfirth 10:d0bb2b822af8 88 _ser.putc(tune[i]);
richardfirth 10:d0bb2b822af8 89 }
richardfirth 10:d0bb2b822af8 90 return(0);
richardfirth 10:d0bb2b822af8 91 }
richardfirth 10:d0bb2b822af8 92
richardfirth 10:d0bb2b822af8 93
richardfirth 10:d0bb2b822af8 94 // Richard Added
richardfirth 10:d0bb2b822af8 95
richardfirth 10:d0bb2b822af8 96
richardfirth 10:d0bb2b822af8 97
richardfirth 10:d0bb2b822af8 98
richardfirth 10:d0bb2b822af8 99
richardfirth 10:d0bb2b822af8 100
richardfirth 10:d0bb2b822af8 101
chris 0:e6020bd04b45 102 void m3pi::motor (int motor, float speed) {
chris 0:e6020bd04b45 103 char opcode = 0x0;
chris 0:e6020bd04b45 104 if (speed > 0.0) {
chris 0:e6020bd04b45 105 if (motor==1)
chris 0:e6020bd04b45 106 opcode = M1_FORWARD;
chris 0:e6020bd04b45 107 else
chris 0:e6020bd04b45 108 opcode = M2_FORWARD;
chris 0:e6020bd04b45 109 } else {
chris 0:e6020bd04b45 110 if (motor==1)
chris 0:e6020bd04b45 111 opcode = M1_BACKWARD;
chris 0:e6020bd04b45 112 else
chris 0:e6020bd04b45 113 opcode = M2_BACKWARD;
chris 0:e6020bd04b45 114 }
chris 0:e6020bd04b45 115 unsigned char arg = 0x7f * abs(speed);
chris 0:e6020bd04b45 116
chris 0:e6020bd04b45 117 _ser.putc(opcode);
chris 0:e6020bd04b45 118 _ser.putc(arg);
chris 0:e6020bd04b45 119 }
chris 0:e6020bd04b45 120
chris 0:e6020bd04b45 121 float m3pi::battery() {
chris 0:e6020bd04b45 122 _ser.putc(SEND_BATTERY_MILLIVOLTS);
chris 0:e6020bd04b45 123 char lowbyte = _ser.getc();
chris 0:e6020bd04b45 124 char hibyte = _ser.getc();
chris 0:e6020bd04b45 125 float v = ((lowbyte + (hibyte << 8))/1000.0);
chris 0:e6020bd04b45 126 return(v);
chris 0:e6020bd04b45 127 }
chris 0:e6020bd04b45 128
chris 0:e6020bd04b45 129 float m3pi::line_position() {
chris 0:e6020bd04b45 130 int pos = 0;
chris 0:e6020bd04b45 131 _ser.putc(SEND_LINE_POSITION);
chris 0:e6020bd04b45 132 pos = _ser.getc();
chris 0:e6020bd04b45 133 pos += _ser.getc() << 8;
chris 0:e6020bd04b45 134
chris 2:330eb028e85b 135 float fpos = ((float)pos - 2048.0)/2048.0;
chris 0:e6020bd04b45 136 return(fpos);
chris 0:e6020bd04b45 137 }
chris 0:e6020bd04b45 138
chris 0:e6020bd04b45 139 char m3pi::sensor_auto_calibrate() {
chris 0:e6020bd04b45 140 _ser.putc(AUTO_CALIBRATE);
chris 0:e6020bd04b45 141 return(_ser.getc());
chris 0:e6020bd04b45 142 }
chris 0:e6020bd04b45 143
chris 0:e6020bd04b45 144
chris 0:e6020bd04b45 145 void m3pi::calibrate(void) {
chris 0:e6020bd04b45 146 _ser.putc(PI_CALIBRATE);
chris 0:e6020bd04b45 147 }
chris 0:e6020bd04b45 148
chris 0:e6020bd04b45 149 void m3pi::reset_calibration() {
chris 0:e6020bd04b45 150 _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
chris 0:e6020bd04b45 151 }
chris 0:e6020bd04b45 152
chris 0:e6020bd04b45 153 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
chris 0:e6020bd04b45 154 _ser.putc(max_speed);
chris 0:e6020bd04b45 155 _ser.putc(a);
chris 0:e6020bd04b45 156 _ser.putc(b);
chris 0:e6020bd04b45 157 _ser.putc(c);
chris 0:e6020bd04b45 158 _ser.putc(d);
chris 0:e6020bd04b45 159 }
chris 0:e6020bd04b45 160
chris 0:e6020bd04b45 161 void m3pi::PID_stop() {
chris 0:e6020bd04b45 162 _ser.putc(STOP_PID);
chris 0:e6020bd04b45 163 }
chris 0:e6020bd04b45 164
chris 0:e6020bd04b45 165 float m3pi::pot_voltage(void) {
chris 0:e6020bd04b45 166 int volt = 0;
chris 0:e6020bd04b45 167 _ser.putc(SEND_TRIMPOT);
chris 0:e6020bd04b45 168 volt = _ser.getc();
chris 0:e6020bd04b45 169 volt += _ser.getc() << 8;
chris 0:e6020bd04b45 170 return(volt);
chris 0:e6020bd04b45 171 }
chris 0:e6020bd04b45 172
chris 5:09fb0636207b 173
chris 5:09fb0636207b 174 void m3pi::leds(int val) {
chris 7:9b128cebb3c2 175
chris 7:9b128cebb3c2 176 BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
chris 5:09fb0636207b 177 _leds = val;
chris 5:09fb0636207b 178 }
chris 5:09fb0636207b 179
chris 5:09fb0636207b 180
chris 0:e6020bd04b45 181 void m3pi::locate(int x, int y) {
chris 0:e6020bd04b45 182 _ser.putc(DO_LCD_GOTO_XY);
chris 0:e6020bd04b45 183 _ser.putc(x);
chris 0:e6020bd04b45 184 _ser.putc(y);
chris 0:e6020bd04b45 185 }
chris 0:e6020bd04b45 186
chris 0:e6020bd04b45 187 void m3pi::cls(void) {
chris 0:e6020bd04b45 188 _ser.putc(DO_CLEAR);
chris 0:e6020bd04b45 189 }
chris 0:e6020bd04b45 190
chris 0:e6020bd04b45 191 int m3pi::print (char* text, int length) {
chris 0:e6020bd04b45 192 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 193 _ser.putc(length);
chris 0:e6020bd04b45 194 for (int i = 0 ; i < length ; i++) {
chris 0:e6020bd04b45 195 _ser.putc(text[i]);
chris 0:e6020bd04b45 196 }
chris 0:e6020bd04b45 197 return(0);
chris 0:e6020bd04b45 198 }
chris 0:e6020bd04b45 199
chris 0:e6020bd04b45 200 int m3pi::_putc (int c) {
chris 0:e6020bd04b45 201 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 202 _ser.putc(0x1);
chris 0:e6020bd04b45 203 _ser.putc(c);
chris 0:e6020bd04b45 204 wait (0.001);
chris 0:e6020bd04b45 205 return(c);
chris 0:e6020bd04b45 206 }
chris 0:e6020bd04b45 207
chris 0:e6020bd04b45 208 int m3pi::_getc (void) {
chris 0:e6020bd04b45 209 char r = 0;
chris 0:e6020bd04b45 210 return(r);
chris 0:e6020bd04b45 211 }
chris 0:e6020bd04b45 212
chris 0:e6020bd04b45 213 int m3pi::putc (int c) {
chris 0:e6020bd04b45 214 return(_ser.putc(c));
chris 0:e6020bd04b45 215 }
chris 0:e6020bd04b45 216
chris 0:e6020bd04b45 217 int m3pi::getc (void) {
chris 0:e6020bd04b45 218 return(_ser.getc());
chris 0:e6020bd04b45 219 }
chris 0:e6020bd04b45 220
chris 0:e6020bd04b45 221
chris 0:e6020bd04b45 222
chris 0:e6020bd04b45 223
chris 0:e6020bd04b45 224
chris 0:e6020bd04b45 225 #ifdef MBED_RPC
chris 0:e6020bd04b45 226 const rpc_method *m3pi::get_rpc_methods() {
chris 0:e6020bd04b45 227 static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
chris 1:816a80dcc1a3 228 { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
chris 0:e6020bd04b45 229 { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
chris 0:e6020bd04b45 230 { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
chris 0:e6020bd04b45 231 { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
chris 0:e6020bd04b45 232 { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
chris 0:e6020bd04b45 233 { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
chris 0:e6020bd04b45 234 { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
chris 3:c38d2f980494 235 { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
chris 3:c38d2f980494 236 { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
chris 0:e6020bd04b45 237
chris 0:e6020bd04b45 238
chris 0:e6020bd04b45 239 RPC_METHOD_SUPER(Base)
chris 0:e6020bd04b45 240 };
chris 0:e6020bd04b45 241 return rpc_methods;
chris 0:e6020bd04b45 242 }
chris 0:e6020bd04b45 243 #endif