Sille Van Landschoot / Mbed 2 deprecated racing_robots

Racing Robots Session

Dependencies:   m3pi mbed

Fork of racing_robots by Nico De Witte

robot_logic.h@4:3743cbfe031b, 2015-02-24 (annotated)

Committer:
pcordemans
Date:
Tue Feb 24 09:06:29 2015 +0000
Revision:
4:3743cbfe031b
Parent:
2:356bb8d99326
Child:
6:0dc4e4225881
removed racing_robots.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pcordemans 4:3743cbfe031b 1 #ifndef H_ROBOT_LOGIC
pcordemans 4:3743cbfe031b 2 #define H_ROBOT_LOGIC
pcordemans 4:3743cbfe031b 3
dwini 0:c0ae66a0ec7a 4 #include "mbed.h"
dwini 0:c0ae66a0ec7a 5 #include "m3pi.h"
dwini 0:c0ae66a0ec7a 6
dwini 2:356bb8d99326 7 typedef enum {
dwini 2:356bb8d99326 8 LED_1 = 0,
dwini 2:356bb8d99326 9 LED_2 = 1,
dwini 2:356bb8d99326 10 LED_3 = 2,
dwini 2:356bb8d99326 11 LED_4 = 3,
dwini 2:356bb8d99326 12 LED_5 = 4,
dwini 2:356bb8d99326 13 LED_6 = 5,
dwini 2:356bb8d99326 14 LED_7 = 6,
dwini 2:356bb8d99326 15 LED_8 = 7
dwini 2:356bb8d99326 16 } LedIndex;
dwini 0:c0ae66a0ec7a 17
dwini 0:c0ae66a0ec7a 18 typedef enum {
dwini 0:c0ae66a0ec7a 19 LED_ON = 0,
dwini 0:c0ae66a0ec7a 20 LED_OFF = 1,
dwini 0:c0ae66a0ec7a 21 LED_TOGGLE = 2
dwini 0:c0ae66a0ec7a 22 } LedState;
dwini 0:c0ae66a0ec7a 23
dwini 0:c0ae66a0ec7a 24
dwini 0:c0ae66a0ec7a 25 /*
dwini 0:c0ae66a0ec7a 26 * Drive the robot forward or backward.
dwini 2:356bb8d99326 27 * If the robot was turning it will stop turning and drive in a straight line.
dwini 0:c0ae66a0ec7a 28 *
dwini 2:356bb8d99326 29 * @speed The speed percentage with which to drive forward or backward.
dwini 2:356bb8d99326 30 * Can range from -100 (full throttle backward) to +100 (full throttle forward).
dwini 0:c0ae66a0ec7a 31 */
dwini 0:c0ae66a0ec7a 32 void drive(int speed);
dwini 0:c0ae66a0ec7a 33
dwini 2:356bb8d99326 34 /*
dwini 2:356bb8d99326 35 * Turn the robot left or right while driving.
dwini 2:356bb8d99326 36 *
dwini 2:356bb8d99326 37 * @turnspeed The percentage with which to turn the robot.
dwini 2:356bb8d99326 38 * Can range from -100 (full throttle left) to +100 (full throttle right).
dwini 2:356bb8d99326 39 */
dwini 0:c0ae66a0ec7a 40 void turn(int turnspeed);
dwini 0:c0ae66a0ec7a 41
dwini 2:356bb8d99326 42 /*
dwini 2:356bb8d99326 43 * Stop the robot.
dwini 2:356bb8d99326 44 */
dwini 2:356bb8d99326 45 void stop(void);
dwini 0:c0ae66a0ec7a 46
dwini 2:356bb8d99326 47 /*
dwini 2:356bb8d99326 48 * Calibrate the line follow sensors.
dwini 2:356bb8d99326 49 * Take note that the pololu should be placed over the line
dwini 2:356bb8d99326 50 * before this function is called and that it will rotate to
dwini 2:356bb8d99326 51 * both sides.
dwini 2:356bb8d99326 52 */
dwini 2:356bb8d99326 53 void sensor_calibrate(void);
dwini 0:c0ae66a0ec7a 54
dwini 2:356bb8d99326 55 /*
dwini 2:356bb8d99326 56 * Read the value from the line sensor. The returned value indicates the
dwini 2:356bb8d99326 57 * position of the line. The value ranges from -100 to +100 where -100 is
dwini 2:356bb8d99326 58 * fully left, +100 is fully right and 0 means the line is detected in the middle.
dwini 2:356bb8d99326 59 *
dwini 2:356bb8d99326 60 * @return The position of the line with a range of -100 to +100.
dwini 2:356bb8d99326 61 */
dwini 2:356bb8d99326 62 int line_sensor(void);
dwini 0:c0ae66a0ec7a 63
dwini 2:356bb8d99326 64 /*
dwini 2:356bb8d99326 65 * Initialize the PID drive control with
dwini 2:356bb8d99326 66 * the P, I and T factors.
dwini 2:356bb8d99326 67 *
dwini 2:356bb8d99326 68 * @p The P factor
dwini 2:356bb8d99326 69 * @i The I factor
dwini 2:356bb8d99326 70 * @d The D factor
dwini 2:356bb8d99326 71 */
dwini 0:c0ae66a0ec7a 72 void pid_init(int p, int i, int d);
dwini 0:c0ae66a0ec7a 73
dwini 2:356bb8d99326 74 /*
dwini 2:356bb8d99326 75 * Determine PID turnspeed with which the pololu should
dwini 2:356bb8d99326 76 * turn to follow the line at the given position.
dwini 2:356bb8d99326 77 *
dwini 2:356bb8d99326 78 * @line_position The position of the line in a range of [-100, +100]
dwini 2:356bb8d99326 79 *
dwini 2:356bb8d99326 80 * @returns The turnspeed in a range of [-100, +100]
dwini 2:356bb8d99326 81 */
dwini 0:c0ae66a0ec7a 82 int pid_turn(int line_position);
dwini 0:c0ae66a0ec7a 83
dwini 0:c0ae66a0ec7a 84 // Show drive speed and sensor data
dwini 2:356bb8d99326 85 void show_stats();
dwini 0:c0ae66a0ec7a 86
dwini 2:356bb8d99326 87 // Show the name of the robot on the display
dwini 2:356bb8d99326 88 void show_name(char * name);
dwini 2:356bb8d99326 89
dwini 0:c0ae66a0ec7a 90
dwini 0:c0ae66a0ec7a 91 // Turn a led on or off
dwini 2:356bb8d99326 92 void led(LedIndex i, LedState state);
dwini 0:c0ae66a0ec7a 93
dwini 0:c0ae66a0ec7a 94 // Wait for a number of milliseconds
dwini 0:c0ae66a0ec7a 95 void await(int milliseconds);
dwini 0:c0ae66a0ec7a 96
dwini 0:c0ae66a0ec7a 97 #endif