Sille Van Landschoot / m3Dpi

library for m3Dpi robot, based on the Pololu 3pi and m3pi. m3Dpi has multiple distance sensors, gyroscope, compass and accelerometer sensor to be fully aware of its environment. With the addition of xbee or nrf24n01 module it has wireless communication capabilities.

Dependencies:   m3pi ADXL345_I2C HMC5583L ITG3200 PCA9547 TLC59116 VL6180x RGB-fun xbee

Dependents:   m3Dpi-helloworld

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Show/hide line numbers M3Dpi.h Source File

M3Dpi.h

00001 #pragma once
00002 
00003 #include "m3pi.h"
00004 
00005 #include "StatusLed.h"
00006 #include "Color.h"
00007 #include "LedRing.h"
00008 #include "hmc5583l.h"
00009 #include "ITG3200.h"
00010 #include "ADXL345_I2C.h"
00011 #include "PCA9547.h"
00012 //#include "vl6108x.h"
00013 #include "vl6180xManager.h"
00014 #include "xbee.h"
00015 #include "datatypes.h"
00016 
00017 class M3Dpi : public m3pi
00018 {
00019 
00020 public:
00021     M3Dpi();
00022 
00023     void setStatus(int color);
00024     void setStatus(Color* color);
00025 
00026     void setLeds(int* colors);
00027     m3dpi::Distance getDistance();
00028     m3dpi::Direction getDirection(); // compass
00029     m3dpi::Rotation getRotation(); // gyro
00030     m3dpi::Acceleration getAcceleration();
00031     time_t getTime();
00032 
00033     // buttonhandler (interrupt based?)
00034 
00035     //protected:    // public for hardware testing only
00036     
00037     I2C i2c;
00038     
00039     StatusLed status;
00040     LedRing leds;
00041 
00042     HMC5583L compass;
00043     ITG3200 gyro;
00044     ADXL345_I2C accelerometer;
00045     VL6180xManager distance;
00046     Xbee xbee;
00047 
00048     static const PinName SDA = p28;
00049     static const PinName SCL = p27;
00050     static const PinName XBEE_TX = p13;
00051     static const PinName XBEE_RX = p14;
00052     static const PinName XBEE_RESET = p12;
00053     static const PinName STATUS_RED = p18;
00054     static const PinName STATUS_GREEN = p19;
00055     static const PinName STATUS_BLUE = p20;
00056 
00057     static const int XBEE_BAUD = 57600;
00058 
00059     virtual int _putc(int c);
00060     virtual int _getc();
00061 
00062 };
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