m3pi library with fixes for left and right motor specific functions and additional functionality like play
m3pi.cpp@2:68c904e3f9d0, 2011-11-14 (annotated)
- Committer:
- ryantm
- Date:
- Mon Nov 14 19:48:29 2011 +0000
- Revision:
- 2:68c904e3f9d0
- Parent:
- 1:66b56d54336e
m3pi library with fixes for left and right motor specific functions and additional functionality like play
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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ryantm | 0:a6a3ac2e729d | 1 | /* m3pi Library |
ryantm | 0:a6a3ac2e729d | 2 | * |
ryantm | 0:a6a3ac2e729d | 3 | * Copyright (c) 2007-2010 cstyles |
ryantm | 0:a6a3ac2e729d | 4 | * |
ryantm | 0:a6a3ac2e729d | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
ryantm | 0:a6a3ac2e729d | 6 | * of this software and associated documentation files (the "Software"), to deal |
ryantm | 0:a6a3ac2e729d | 7 | * in the Software without restriction, including without limitation the rights |
ryantm | 0:a6a3ac2e729d | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
ryantm | 0:a6a3ac2e729d | 9 | * copies of the Software, and to permit persons to whom the Software is |
ryantm | 0:a6a3ac2e729d | 10 | * furnished to do so, subject to the following conditions: |
ryantm | 0:a6a3ac2e729d | 11 | * |
ryantm | 0:a6a3ac2e729d | 12 | * The above copyright notice and this permission notice shall be included in |
ryantm | 0:a6a3ac2e729d | 13 | * all copies or substantial portions of the Software. |
ryantm | 0:a6a3ac2e729d | 14 | * |
ryantm | 0:a6a3ac2e729d | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
ryantm | 0:a6a3ac2e729d | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
ryantm | 0:a6a3ac2e729d | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
ryantm | 0:a6a3ac2e729d | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
ryantm | 0:a6a3ac2e729d | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
ryantm | 0:a6a3ac2e729d | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
ryantm | 0:a6a3ac2e729d | 21 | * THE SOFTWARE. |
ryantm | 0:a6a3ac2e729d | 22 | */ |
ryantm | 0:a6a3ac2e729d | 23 | |
ryantm | 0:a6a3ac2e729d | 24 | #include "mbed.h" |
ryantm | 0:a6a3ac2e729d | 25 | #include "m3pi.h" |
ryantm | 0:a6a3ac2e729d | 26 | |
ryantm | 0:a6a3ac2e729d | 27 | m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) { |
ryantm | 0:a6a3ac2e729d | 28 | _ser.baud(115200); |
ryantm | 0:a6a3ac2e729d | 29 | reset(); |
ryantm | 0:a6a3ac2e729d | 30 | } |
ryantm | 0:a6a3ac2e729d | 31 | |
ryantm | 0:a6a3ac2e729d | 32 | m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) { |
ryantm | 0:a6a3ac2e729d | 33 | _ser.baud(115200); |
ryantm | 0:a6a3ac2e729d | 34 | reset(); |
ryantm | 0:a6a3ac2e729d | 35 | } |
ryantm | 0:a6a3ac2e729d | 36 | |
ryantm | 0:a6a3ac2e729d | 37 | |
ryantm | 0:a6a3ac2e729d | 38 | void m3pi::reset () { |
ryantm | 0:a6a3ac2e729d | 39 | _nrst = 0; |
ryantm | 0:a6a3ac2e729d | 40 | wait (0.01); |
ryantm | 0:a6a3ac2e729d | 41 | _nrst = 1; |
ryantm | 0:a6a3ac2e729d | 42 | wait (0.1); |
ryantm | 0:a6a3ac2e729d | 43 | } |
ryantm | 0:a6a3ac2e729d | 44 | |
ryantm | 0:a6a3ac2e729d | 45 | void m3pi::left_motor (float speed) { |
ryantm | 0:a6a3ac2e729d | 46 | motor(0,speed); |
ryantm | 0:a6a3ac2e729d | 47 | } |
ryantm | 0:a6a3ac2e729d | 48 | |
ryantm | 0:a6a3ac2e729d | 49 | void m3pi::right_motor (float speed) { |
ryantm | 0:a6a3ac2e729d | 50 | motor(1,speed); |
ryantm | 0:a6a3ac2e729d | 51 | } |
ryantm | 0:a6a3ac2e729d | 52 | |
ryantm | 0:a6a3ac2e729d | 53 | void m3pi::forward (float speed) { |
ryantm | 0:a6a3ac2e729d | 54 | motor(0,speed); |
ryantm | 0:a6a3ac2e729d | 55 | motor(1,speed); |
ryantm | 0:a6a3ac2e729d | 56 | } |
ryantm | 0:a6a3ac2e729d | 57 | |
ryantm | 0:a6a3ac2e729d | 58 | void m3pi::backward (float speed) { |
ryantm | 0:a6a3ac2e729d | 59 | motor(0,-1.0*speed); |
ryantm | 0:a6a3ac2e729d | 60 | motor(1,-1.0*speed); |
ryantm | 0:a6a3ac2e729d | 61 | } |
ryantm | 0:a6a3ac2e729d | 62 | |
ryantm | 0:a6a3ac2e729d | 63 | void m3pi::left (float speed) { |
ryantm | 0:a6a3ac2e729d | 64 | motor(0,speed); |
ryantm | 0:a6a3ac2e729d | 65 | motor(1,-1.0*speed); |
ryantm | 0:a6a3ac2e729d | 66 | } |
ryantm | 0:a6a3ac2e729d | 67 | |
ryantm | 0:a6a3ac2e729d | 68 | void m3pi::right (float speed) { |
ryantm | 0:a6a3ac2e729d | 69 | motor(0,-1.0*speed); |
ryantm | 0:a6a3ac2e729d | 70 | motor(1,speed); |
ryantm | 0:a6a3ac2e729d | 71 | } |
ryantm | 0:a6a3ac2e729d | 72 | |
ryantm | 0:a6a3ac2e729d | 73 | void m3pi::stop (void) { |
ryantm | 0:a6a3ac2e729d | 74 | motor(0,0.0); |
ryantm | 0:a6a3ac2e729d | 75 | motor(1,0.0); |
ryantm | 0:a6a3ac2e729d | 76 | } |
ryantm | 0:a6a3ac2e729d | 77 | |
ryantm | 0:a6a3ac2e729d | 78 | void m3pi::motor (int motor, float speed) { |
ryantm | 0:a6a3ac2e729d | 79 | char opcode = 0x0; |
ryantm | 0:a6a3ac2e729d | 80 | if (speed > 0.0) { |
ryantm | 0:a6a3ac2e729d | 81 | if (motor==1) |
ryantm | 0:a6a3ac2e729d | 82 | opcode = M1_FORWARD; |
ryantm | 0:a6a3ac2e729d | 83 | else |
ryantm | 0:a6a3ac2e729d | 84 | opcode = M2_FORWARD; |
ryantm | 0:a6a3ac2e729d | 85 | } else { |
ryantm | 0:a6a3ac2e729d | 86 | if (motor==1) |
ryantm | 0:a6a3ac2e729d | 87 | opcode = M1_BACKWARD; |
ryantm | 0:a6a3ac2e729d | 88 | else |
ryantm | 0:a6a3ac2e729d | 89 | opcode = M2_BACKWARD; |
ryantm | 0:a6a3ac2e729d | 90 | } |
ryantm | 0:a6a3ac2e729d | 91 | unsigned char arg = 0x7f * abs(speed); |
ryantm | 0:a6a3ac2e729d | 92 | |
ryantm | 0:a6a3ac2e729d | 93 | _ser.putc(opcode); |
ryantm | 0:a6a3ac2e729d | 94 | _ser.putc(arg); |
ryantm | 0:a6a3ac2e729d | 95 | } |
ryantm | 0:a6a3ac2e729d | 96 | |
ryantm | 0:a6a3ac2e729d | 97 | float m3pi::battery() { |
ryantm | 0:a6a3ac2e729d | 98 | _ser.putc(SEND_BATTERY_MILLIVOLTS); |
ryantm | 0:a6a3ac2e729d | 99 | char lowbyte = _ser.getc(); |
ryantm | 0:a6a3ac2e729d | 100 | char hibyte = _ser.getc(); |
ryantm | 0:a6a3ac2e729d | 101 | float v = ((lowbyte + (hibyte << 8))/1000.0); |
ryantm | 0:a6a3ac2e729d | 102 | return(v); |
ryantm | 0:a6a3ac2e729d | 103 | } |
ryantm | 0:a6a3ac2e729d | 104 | |
ryantm | 0:a6a3ac2e729d | 105 | float m3pi::line_position() { |
ryantm | 0:a6a3ac2e729d | 106 | int pos = 0; |
ryantm | 0:a6a3ac2e729d | 107 | _ser.putc(SEND_LINE_POSITION); |
ryantm | 0:a6a3ac2e729d | 108 | pos = _ser.getc(); |
ryantm | 0:a6a3ac2e729d | 109 | pos += _ser.getc() << 8; |
ryantm | 0:a6a3ac2e729d | 110 | |
ryantm | 0:a6a3ac2e729d | 111 | float fpos = ((float)pos - 2048.0)/2048.0; |
ryantm | 0:a6a3ac2e729d | 112 | return(fpos); |
ryantm | 0:a6a3ac2e729d | 113 | } |
ryantm | 0:a6a3ac2e729d | 114 | |
ryantm | 0:a6a3ac2e729d | 115 | char m3pi::sensor_auto_calibrate() { |
ryantm | 0:a6a3ac2e729d | 116 | _ser.putc(AUTO_CALIBRATE); |
ryantm | 0:a6a3ac2e729d | 117 | return(_ser.getc()); |
ryantm | 0:a6a3ac2e729d | 118 | } |
ryantm | 0:a6a3ac2e729d | 119 | |
ryantm | 0:a6a3ac2e729d | 120 | |
ryantm | 0:a6a3ac2e729d | 121 | void m3pi::calibrate(void) { |
ryantm | 0:a6a3ac2e729d | 122 | _ser.putc(PI_CALIBRATE); |
ryantm | 0:a6a3ac2e729d | 123 | } |
ryantm | 0:a6a3ac2e729d | 124 | |
ryantm | 0:a6a3ac2e729d | 125 | void m3pi::reset_calibration() { |
ryantm | 0:a6a3ac2e729d | 126 | _ser.putc(LINE_SENSORS_RESET_CALIBRATION); |
ryantm | 0:a6a3ac2e729d | 127 | } |
ryantm | 0:a6a3ac2e729d | 128 | |
ryantm | 0:a6a3ac2e729d | 129 | void m3pi::PID_start(int max_speed, int a, int b, int c, int d) { |
ryantm | 0:a6a3ac2e729d | 130 | _ser.putc(SET_PID); |
ryantm | 0:a6a3ac2e729d | 131 | _ser.putc(max_speed); |
ryantm | 0:a6a3ac2e729d | 132 | _ser.putc(a); |
ryantm | 0:a6a3ac2e729d | 133 | _ser.putc(b); |
ryantm | 0:a6a3ac2e729d | 134 | _ser.putc(c); |
ryantm | 0:a6a3ac2e729d | 135 | _ser.putc(d); |
ryantm | 0:a6a3ac2e729d | 136 | } |
ryantm | 0:a6a3ac2e729d | 137 | |
ryantm | 0:a6a3ac2e729d | 138 | void m3pi::PID_stop() { |
ryantm | 0:a6a3ac2e729d | 139 | _ser.putc(STOP_PID); |
ryantm | 0:a6a3ac2e729d | 140 | } |
ryantm | 0:a6a3ac2e729d | 141 | |
ryantm | 0:a6a3ac2e729d | 142 | float m3pi::pot_voltage(void) { |
ryantm | 0:a6a3ac2e729d | 143 | int volt = 0; |
ryantm | 0:a6a3ac2e729d | 144 | _ser.putc(SEND_TRIMPOT); |
ryantm | 0:a6a3ac2e729d | 145 | volt = _ser.getc(); |
ryantm | 0:a6a3ac2e729d | 146 | volt += _ser.getc() << 8; |
ryantm | 0:a6a3ac2e729d | 147 | return(volt); |
ryantm | 0:a6a3ac2e729d | 148 | } |
ryantm | 0:a6a3ac2e729d | 149 | |
ryantm | 0:a6a3ac2e729d | 150 | |
ryantm | 0:a6a3ac2e729d | 151 | void m3pi::leds(int val) { |
ryantm | 0:a6a3ac2e729d | 152 | |
ryantm | 0:a6a3ac2e729d | 153 | BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13); |
ryantm | 0:a6a3ac2e729d | 154 | _leds = val; |
ryantm | 0:a6a3ac2e729d | 155 | } |
ryantm | 0:a6a3ac2e729d | 156 | |
ryantm | 0:a6a3ac2e729d | 157 | |
ryantm | 0:a6a3ac2e729d | 158 | void m3pi::locate(int x, int y) { |
ryantm | 0:a6a3ac2e729d | 159 | _ser.putc(DO_LCD_GOTO_XY); |
ryantm | 0:a6a3ac2e729d | 160 | _ser.putc(x); |
ryantm | 0:a6a3ac2e729d | 161 | _ser.putc(y); |
ryantm | 0:a6a3ac2e729d | 162 | } |
ryantm | 0:a6a3ac2e729d | 163 | |
ryantm | 0:a6a3ac2e729d | 164 | void m3pi::cls(void) { |
ryantm | 0:a6a3ac2e729d | 165 | _ser.putc(DO_CLEAR); |
ryantm | 0:a6a3ac2e729d | 166 | } |
ryantm | 0:a6a3ac2e729d | 167 | |
ryantm | 0:a6a3ac2e729d | 168 | int m3pi::print (char* text, int length) { |
ryantm | 0:a6a3ac2e729d | 169 | _ser.putc(DO_PRINT); |
ryantm | 0:a6a3ac2e729d | 170 | _ser.putc(length); |
ryantm | 0:a6a3ac2e729d | 171 | for (int i = 0 ; i < length ; i++) { |
ryantm | 0:a6a3ac2e729d | 172 | _ser.putc(text[i]); |
ryantm | 0:a6a3ac2e729d | 173 | } |
ryantm | 0:a6a3ac2e729d | 174 | return(0); |
ryantm | 0:a6a3ac2e729d | 175 | } |
ryantm | 0:a6a3ac2e729d | 176 | |
ryantm | 0:a6a3ac2e729d | 177 | void m3pi::play (char* music, int length) { |
ryantm | 1:66b56d54336e | 178 | // The default 3pi serial slave program |
ryantm | 1:66b56d54336e | 179 | // will not accept music strings longer than 100. |
ryantm | 0:a6a3ac2e729d | 180 | if (length > 100) |
ryantm | 0:a6a3ac2e729d | 181 | length = 100; |
ryantm | 1:66b56d54336e | 182 | _ser.putc(DO_PLAY); |
ryantm | 0:a6a3ac2e729d | 183 | _ser.putc(length); |
ryantm | 0:a6a3ac2e729d | 184 | for (int i = 0 ; i < length ; i++) { |
ryantm | 0:a6a3ac2e729d | 185 | _ser.putc(music[i]); |
ryantm | 0:a6a3ac2e729d | 186 | } |
ryantm | 0:a6a3ac2e729d | 187 | } |
ryantm | 0:a6a3ac2e729d | 188 | |
ryantm | 0:a6a3ac2e729d | 189 | int m3pi::_putc (int c) { |
ryantm | 0:a6a3ac2e729d | 190 | _ser.putc(DO_PRINT); |
ryantm | 0:a6a3ac2e729d | 191 | _ser.putc(0x1); |
ryantm | 0:a6a3ac2e729d | 192 | _ser.putc(c); |
ryantm | 0:a6a3ac2e729d | 193 | wait (0.001); |
ryantm | 0:a6a3ac2e729d | 194 | return(c); |
ryantm | 0:a6a3ac2e729d | 195 | } |
ryantm | 0:a6a3ac2e729d | 196 | |
ryantm | 0:a6a3ac2e729d | 197 | int m3pi::_getc (void) { |
ryantm | 0:a6a3ac2e729d | 198 | char r = 0; |
ryantm | 0:a6a3ac2e729d | 199 | return(r); |
ryantm | 0:a6a3ac2e729d | 200 | } |
ryantm | 0:a6a3ac2e729d | 201 | |
ryantm | 0:a6a3ac2e729d | 202 | int m3pi::putc (int c) { |
ryantm | 0:a6a3ac2e729d | 203 | return(_ser.putc(c)); |
ryantm | 0:a6a3ac2e729d | 204 | } |
ryantm | 0:a6a3ac2e729d | 205 | |
ryantm | 0:a6a3ac2e729d | 206 | int m3pi::getc (void) { |
ryantm | 0:a6a3ac2e729d | 207 | return(_ser.getc()); |
ryantm | 0:a6a3ac2e729d | 208 | } |
ryantm | 0:a6a3ac2e729d | 209 | |
ryantm | 0:a6a3ac2e729d | 210 | |
ryantm | 0:a6a3ac2e729d | 211 | |
ryantm | 0:a6a3ac2e729d | 212 | |
ryantm | 0:a6a3ac2e729d | 213 | #ifdef MBED_RPC |
ryantm | 0:a6a3ac2e729d | 214 | const rpc_method *m3pi::get_rpc_methods() { |
ryantm | 0:a6a3ac2e729d | 215 | static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> }, |
ryantm | 0:a6a3ac2e729d | 216 | { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> }, |
ryantm | 0:a6a3ac2e729d | 217 | { "left", rpc_method_caller<m3pi, float, &m3pi::left> }, |
ryantm | 0:a6a3ac2e729d | 218 | { "right", rpc_method_caller<m3pi, float, &m3pi::right> }, |
ryantm | 0:a6a3ac2e729d | 219 | { "stop", rpc_method_caller<m3pi, &m3pi::stop> }, |
ryantm | 0:a6a3ac2e729d | 220 | { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> }, |
ryantm | 0:a6a3ac2e729d | 221 | { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> }, |
ryantm | 0:a6a3ac2e729d | 222 | { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> }, |
ryantm | 0:a6a3ac2e729d | 223 | { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> }, |
ryantm | 0:a6a3ac2e729d | 224 | { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> }, |
ryantm | 0:a6a3ac2e729d | 225 | |
ryantm | 0:a6a3ac2e729d | 226 | |
ryantm | 0:a6a3ac2e729d | 227 | RPC_METHOD_SUPER(Base) |
ryantm | 0:a6a3ac2e729d | 228 | }; |
ryantm | 0:a6a3ac2e729d | 229 | return rpc_methods; |
ryantm | 0:a6a3ac2e729d | 230 | } |
ryantm | 0:a6a3ac2e729d | 231 | #endif |