Stephan Willis / m3pi

za

Fork of m3pi by Chris Styles

m3pi.h@9:08cc708cee52, 2013-03-24 (annotated)

Committer:
s4stevo
Date:
Sun Mar 24 00:15:29 2013 +0000
Revision:
9:08cc708cee52
Parent:
8:4b7d6ea9b35b
Child:
10:30aaa3c1910a
Rev A

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s4stevo 9:08cc708cee52 1
chris 0:e6020bd04b45 2
chris 0:e6020bd04b45 3 #ifndef M3PI_H
chris 0:e6020bd04b45 4 #define M3PI_H
chris 0:e6020bd04b45 5
s4stevo 9:08cc708cee52 6
chris 0:e6020bd04b45 7 #include "mbed.h"
chris 0:e6020bd04b45 8 #include "platform.h"
chris 0:e6020bd04b45 9
chris 0:e6020bd04b45 10 #ifdef MBED_RPC
chris 0:e6020bd04b45 11 #include "rpc.h"
chris 0:e6020bd04b45 12 #endif
chris 0:e6020bd04b45 13
chris 0:e6020bd04b45 14 #define SEND_SIGNATURE 0x81
chris 0:e6020bd04b45 15 #define SEND_RAW_SENSOR_VALUES 0x86
chris 0:e6020bd04b45 16 #define SEND_TRIMPOT 0xB0
chris 0:e6020bd04b45 17 #define SEND_BATTERY_MILLIVOLTS 0xB1
chris 0:e6020bd04b45 18 #define DO_PLAY 0xB3
chris 0:e6020bd04b45 19 #define PI_CALIBRATE 0xB4
chris 0:e6020bd04b45 20 #define DO_CLEAR 0xB7
chris 0:e6020bd04b45 21 #define DO_PRINT 0xB8
chris 0:e6020bd04b45 22 #define DO_LCD_GOTO_XY 0xB9
chris 0:e6020bd04b45 23 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
chris 0:e6020bd04b45 24 #define SEND_LINE_POSITION 0xB6
chris 0:e6020bd04b45 25 #define AUTO_CALIBRATE 0xBA
chris 0:e6020bd04b45 26 #define SET_PID 0xBB
chris 0:e6020bd04b45 27 #define STOP_PID 0xBC
chris 0:e6020bd04b45 28 #define M1_FORWARD 0xC1
chris 0:e6020bd04b45 29 #define M1_BACKWARD 0xC2
chris 0:e6020bd04b45 30 #define M2_FORWARD 0xC5
chris 0:e6020bd04b45 31 #define M2_BACKWARD 0xC6
chris 0:e6020bd04b45 32
chris 0:e6020bd04b45 33
chris 0:e6020bd04b45 34
s4stevo 9:08cc708cee52 35
chris 0:e6020bd04b45 36
s4stevo 9:08cc708cee52 37
chris 0:e6020bd04b45 38 class m3pi : public Stream {
chris 0:e6020bd04b45 39
chris 0:e6020bd04b45 40 // Public functions
chris 0:e6020bd04b45 41 public:
chris 0:e6020bd04b45 42
chris 0:e6020bd04b45 43 /** Create the m3pi object connected to the default pins
chris 0:e6020bd04b45 44 *
chris 7:9b128cebb3c2 45 * @param nrst GPIO pin used for reset. Default is p23
chris 0:e6020bd04b45 46 * @param tx Serial transmit pin. Default is p9
chris 0:e6020bd04b45 47 * @param rx Serial receive pin. Default is p10
chris 0:e6020bd04b45 48 */
chris 7:9b128cebb3c2 49 m3pi();
chris 7:9b128cebb3c2 50
chris 7:9b128cebb3c2 51
chris 8:4b7d6ea9b35b 52 /** Create the m3pi object connected to specific pins
chris 7:9b128cebb3c2 53 *
chris 7:9b128cebb3c2 54 */
chris 0:e6020bd04b45 55 m3pi(PinName nrst, PinName tx, PinName rx);
chris 0:e6020bd04b45 56
chris 0:e6020bd04b45 57
chris 7:9b128cebb3c2 58
chris 0:e6020bd04b45 59 /** Force a hardware reset of the 3pi
chris 0:e6020bd04b45 60 */
chris 0:e6020bd04b45 61 void reset (void);
chris 0:e6020bd04b45 62
chris 0:e6020bd04b45 63 /** Directly control the speed and direction of the left motor
chris 0:e6020bd04b45 64 *
chris 0:e6020bd04b45 65 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chris 0:e6020bd04b45 66 */
chris 0:e6020bd04b45 67 void left_motor (float speed);
chris 0:e6020bd04b45 68
chris 0:e6020bd04b45 69 /** Directly control the speed and direction of the right motor
chris 0:e6020bd04b45 70 *
chris 0:e6020bd04b45 71 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chris 0:e6020bd04b45 72 */
chris 0:e6020bd04b45 73 void right_motor (float speed);
chris 0:e6020bd04b45 74
chris 0:e6020bd04b45 75 /** Drive both motors forward as the same speed
chris 0:e6020bd04b45 76 *
chris 0:e6020bd04b45 77 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 78 */
chris 0:e6020bd04b45 79 void forward (float speed);
chris 0:e6020bd04b45 80
chris 0:e6020bd04b45 81 /** Drive both motors backward as the same speed
chris 0:e6020bd04b45 82 *
chris 0:e6020bd04b45 83 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 84 */
chris 0:e6020bd04b45 85 void backward (float speed);
chris 0:e6020bd04b45 86
chris 0:e6020bd04b45 87 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
chris 0:e6020bd04b45 88 *
chris 0:e6020bd04b45 89 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 90 */
chris 0:e6020bd04b45 91 void left (float speed);
chris 0:e6020bd04b45 92
chris 0:e6020bd04b45 93 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
chris 0:e6020bd04b45 94 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 95 */
chris 0:e6020bd04b45 96 void right (float speed);
chris 0:e6020bd04b45 97
chris 0:e6020bd04b45 98 /** Stop both motors
chris 0:e6020bd04b45 99 *
chris 0:e6020bd04b45 100 */
chris 0:e6020bd04b45 101 void stop (void);
chris 0:e6020bd04b45 102
chris 0:e6020bd04b45 103 /** Read the voltage of the potentiometer on the 3pi
chris 0:e6020bd04b45 104 * @returns voltage as a float
chris 0:e6020bd04b45 105 *
chris 0:e6020bd04b45 106 */
s4stevo 9:08cc708cee52 107 //float pot_voltage(void);
chris 0:e6020bd04b45 108
chris 0:e6020bd04b45 109 /** Read the battery voltage on the 3pi
chris 0:e6020bd04b45 110 * @returns battery voltage as a float
chris 0:e6020bd04b45 111 */
chris 0:e6020bd04b45 112 float battery(void);
chris 0:e6020bd04b45 113
chris 0:e6020bd04b45 114 /** Read the position of the detected line
chris 0:e6020bd04b45 115 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
chris 7:9b128cebb3c2 116 * -1.0 means line is on the left, or the line has been lost
chris 7:9b128cebb3c2 117 * 0.0 means the line is in the middle
chris 7:9b128cebb3c2 118 * 1.0 means the line is on the right
chris 0:e6020bd04b45 119 */
s4stevo 9:08cc708cee52 120 float position (void);
chris 0:e6020bd04b45 121
chris 0:e6020bd04b45 122
chris 7:9b128cebb3c2 123 /** Calibrate the sensors. This turns the robot left then right, looking for a line
chris 0:e6020bd04b45 124 *
chris 0:e6020bd04b45 125 */
s4stevo 9:08cc708cee52 126 //char sensor_auto_calibrate (void);
chris 0:e6020bd04b45 127
chris 0:e6020bd04b45 128 /** Set calibration manually to the current settings.
chris 0:e6020bd04b45 129 *
chris 0:e6020bd04b45 130 */
s4stevo 9:08cc708cee52 131 //void calibrate(void);
chris 0:e6020bd04b45 132
chris 0:e6020bd04b45 133 /** Clear the current calibration settings
chris 0:e6020bd04b45 134 *
chris 0:e6020bd04b45 135 */
s4stevo 9:08cc708cee52 136 //void reset_calibration (void);
chris 0:e6020bd04b45 137
chris 1:816a80dcc1a3 138 void PID_start(int max_speed, int a, int b, int c, int d);
chris 1:816a80dcc1a3 139
chris 1:816a80dcc1a3 140 void PID_stop();
chris 1:816a80dcc1a3 141
chris 5:09fb0636207b 142 /** Write to the 8 LEDs
chris 5:09fb0636207b 143 *
chris 5:09fb0636207b 144 * @param leds An 8 bit value to put on the LEDs
chris 5:09fb0636207b 145 */
chris 5:09fb0636207b 146 void leds(int val);
chris 5:09fb0636207b 147
chris 0:e6020bd04b45 148 /** Locate the cursor on the 8x2 LCD
chris 0:e6020bd04b45 149 *
chris 0:e6020bd04b45 150 * @param x The horizontal position, from 0 to 7
chris 0:e6020bd04b45 151 * @param y The vertical position, from 0 to 1
chris 0:e6020bd04b45 152 */
chris 0:e6020bd04b45 153 void locate(int x, int y);
chris 0:e6020bd04b45 154
s4stevo 9:08cc708cee52 155
s4stevo 9:08cc708cee52 156
chris 0:e6020bd04b45 157 /** Clear the LCD
chris 0:e6020bd04b45 158 *
chris 0:e6020bd04b45 159 */
chris 0:e6020bd04b45 160 void cls(void);
chris 0:e6020bd04b45 161
chris 0:e6020bd04b45 162 /** Send a character directly to the 3pi serial interface
chris 0:e6020bd04b45 163 * @param c The character to send to the 3pi
chris 0:e6020bd04b45 164 */
chris 0:e6020bd04b45 165 int putc(int c);
chris 0:e6020bd04b45 166
chris 0:e6020bd04b45 167 /** Receive a character directly to the 3pi serial interface
chris 0:e6020bd04b45 168 * @returns c The character received from the 3pi
chris 0:e6020bd04b45 169 */
chris 0:e6020bd04b45 170 int getc();
chris 0:e6020bd04b45 171
chris 0:e6020bd04b45 172 /** Send a string buffer to the 3pi serial interface
chris 0:e6020bd04b45 173 * @param text A pointer to a char array
chris 0:e6020bd04b45 174 * @param int The character to send to the 3pi
chris 0:e6020bd04b45 175 */
chris 0:e6020bd04b45 176 int print(char* text, int length);
chris 0:e6020bd04b45 177
chris 0:e6020bd04b45 178 #ifdef MBED_RPC
chris 0:e6020bd04b45 179 virtual const struct rpc_method *get_rpc_methods();
chris 0:e6020bd04b45 180 #endif
chris 0:e6020bd04b45 181
chris 0:e6020bd04b45 182 private :
chris 0:e6020bd04b45 183
chris 0:e6020bd04b45 184 DigitalOut _nrst;
chris 0:e6020bd04b45 185 Serial _ser;
chris 4:54c673c71fc0 186
chris 0:e6020bd04b45 187 void motor (int motor, float speed);
chris 0:e6020bd04b45 188 virtual int _putc(int c);
chris 0:e6020bd04b45 189 virtual int _getc();
chris 0:e6020bd04b45 190
chris 0:e6020bd04b45 191 };
chris 0:e6020bd04b45 192
chris 0:e6020bd04b45 193 #endif