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@8:597ce8a7d34b, 2015-06-01 (annotated)

Committer:
sillevl
Date:
Mon Jun 01 14:47:32 2015 +0000
Revision:
8:597ce8a7d34b
Parent:
7:a72215b1910b
Child:
9:0385d1bfc38b
Added support for start/stop via Xbee

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
pcordemans 6:0dc4e4225881 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 *
pcordemans 6:0dc4e4225881 29 * @param 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
pcordemans 6:0dc4e4225881 34 /**
dwini 2:356bb8d99326 35 * Turn the robot left or right while driving.
dwini 2:356bb8d99326 36 *
pcordemans 6:0dc4e4225881 37 * @param turnspeed The percentage with which to turn the robot.
pcordemans 6:0dc4e4225881 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
pcordemans 6:0dc4e4225881 42 /**
dwini 2:356bb8d99326 43 * Stop the robot.
dwini 2:356bb8d99326 44 */
dwini 2:356bb8d99326 45 void stop(void);
dwini 0:c0ae66a0ec7a 46
pcordemans 6:0dc4e4225881 47 /**
dwini 2:356bb8d99326 48 * Calibrate the line follow sensors.
pcordemans 7:a72215b1910b 49 * Take note that the robot 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
pcordemans 6:0dc4e4225881 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
pcordemans 6:0dc4e4225881 64 /**
dwini 2:356bb8d99326 65 * Initialize the PID drive control with
pcordemans 6:0dc4e4225881 66 * the P, I and D factors.
dwini 2:356bb8d99326 67 *
pcordemans 6:0dc4e4225881 68 * @param p The P factor
pcordemans 6:0dc4e4225881 69 * @param i The I factor
pcordemans 6:0dc4e4225881 70 * @param 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
pcordemans 6:0dc4e4225881 74 /**
pcordemans 7:a72215b1910b 75 * Determine PID turnspeed with which the robot should
dwini 2:356bb8d99326 76 * turn to follow the line at the given position.
dwini 2:356bb8d99326 77 *
pcordemans 6:0dc4e4225881 78 * @param line_position The position of the line in a range of [-100, +100]
dwini 2:356bb8d99326 79 *
pcordemans 6:0dc4e4225881 80 * @return 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
pcordemans 6:0dc4e4225881 84 /**
pcordemans 6:0dc4e4225881 85 *Show speed, turn and sensor data on the LCD
pcordemans 6:0dc4e4225881 86 */
dwini 2:356bb8d99326 87 void show_stats();
dwini 0:c0ae66a0ec7a 88
pcordemans 6:0dc4e4225881 89 /**
pcordemans 6:0dc4e4225881 90 * Shows the name of the robot on the display.
pcordemans 6:0dc4e4225881 91 *
pcordemans 6:0dc4e4225881 92 * @param name C character string (null-terminated) with the name of the robot (max 8 chars)
pcordemans 6:0dc4e4225881 93 */
dwini 2:356bb8d99326 94 void show_name(char * name);
dwini 2:356bb8d99326 95
dwini 0:c0ae66a0ec7a 96
pcordemans 6:0dc4e4225881 97 /**
pcordemans 6:0dc4e4225881 98 * Turn on, off or toggle a specific LED
pcordemans 6:0dc4e4225881 99 * @param i the LED number LED_0 .. LED_7
pcordemans 6:0dc4e4225881 100 * @param state the LED state LED_ON, LED_OFF, LED_TOGGLE
pcordemans 7:a72215b1910b 101 * @example led(LED_0, LED_ON); turns LED 0 on.
pcordemans 6:0dc4e4225881 102 */
dwini 2:356bb8d99326 103 void led(LedIndex i, LedState state);
dwini 0:c0ae66a0ec7a 104
pcordemans 6:0dc4e4225881 105 /**
pcordemans 6:0dc4e4225881 106 * Wait for an approximate number of milliseconds.
pcordemans 6:0dc4e4225881 107 *
pcordemans 6:0dc4e4225881 108 * @param milliseconds The number of milliseconds to wait.
pcordemans 6:0dc4e4225881 109 */
dwini 0:c0ae66a0ec7a 110 void await(int milliseconds);
dwini 0:c0ae66a0ec7a 111
sillevl 8:597ce8a7d34b 112 /**
sillevl 8:597ce8a7d34b 113 * If using Xbee to start/stop the robot, you can set a unique code to prevent starting or stopping other robots
sillevl 8:597ce8a7d34b 114 *
sillevl 8:597ce8a7d34b 115 * @param code A number between 0 and 1000.
sillevl 8:597ce8a7d34b 116 */
sillevl 8:597ce8a7d34b 117 void setCode(int code);
sillevl 8:597ce8a7d34b 118
sillevl 8:597ce8a7d34b 119 /**
sillevl 8:597ce8a7d34b 120 * Use this method if you need to know if something (eg: Xbee) is preventing the robot from driving
sillevl 8:597ce8a7d34b 121 *
sillevl 8:597ce8a7d34b 122 * @return Boolean true if the robot can drive, false if the robot cannot drive
sillevl 8:597ce8a7d34b 123 */
sillevl 8:597ce8a7d34b 124 int canDrive();
sillevl 8:597ce8a7d34b 125
dwini 0:c0ae66a0ec7a 126 #endif