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@10:c67825bf5f6b, 2015-06-03 (annotated)

Committer:
sillevl
Date:
Wed Jun 03 11:28:28 2015 +0000
Revision:
10:c67825bf5f6b
Parent:
9:0385d1bfc38b 
initial project

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
sillevl 10:c67825bf5f6b 4 #define XBEE
sillevl 10:c67825bf5f6b 5
dwini 0:c0ae66a0ec7a 6 #include "mbed.h"
dwini 0:c0ae66a0ec7a 7 #include "m3pi.h"
dwini 0:c0ae66a0ec7a 8
dwini 2:356bb8d99326 9 typedef enum {
dwini 2:356bb8d99326 10 LED_1 = 0,
dwini 2:356bb8d99326 11 LED_2 = 1,
dwini 2:356bb8d99326 12 LED_3 = 2,
dwini 2:356bb8d99326 13 LED_4 = 3,
dwini 2:356bb8d99326 14 LED_5 = 4,
dwini 2:356bb8d99326 15 LED_6 = 5,
dwini 2:356bb8d99326 16 LED_7 = 6,
dwini 2:356bb8d99326 17 LED_8 = 7
dwini 2:356bb8d99326 18 } LedIndex;
dwini 0:c0ae66a0ec7a 19
dwini 0:c0ae66a0ec7a 20 typedef enum {
dwini 0:c0ae66a0ec7a 21 LED_ON = 0,
dwini 0:c0ae66a0ec7a 22 LED_OFF = 1,
dwini 0:c0ae66a0ec7a 23 LED_TOGGLE = 2
dwini 0:c0ae66a0ec7a 24 } LedState;
dwini 0:c0ae66a0ec7a 25
dwini 0:c0ae66a0ec7a 26
pcordemans 6:0dc4e4225881 27 /**
dwini 0:c0ae66a0ec7a 28 * Drive the robot forward or backward.
dwini 2:356bb8d99326 29 * If the robot was turning it will stop turning and drive in a straight line.
dwini 0:c0ae66a0ec7a 30 *
pcordemans 6:0dc4e4225881 31 * @param speed The speed percentage with which to drive forward or backward.
dwini 2:356bb8d99326 32 * Can range from -100 (full throttle backward) to +100 (full throttle forward).
dwini 0:c0ae66a0ec7a 33 */
dwini 0:c0ae66a0ec7a 34 void drive(int speed);
dwini 0:c0ae66a0ec7a 35
pcordemans 6:0dc4e4225881 36 /**
dwini 2:356bb8d99326 37 * Turn the robot left or right while driving.
dwini 2:356bb8d99326 38 *
pcordemans 6:0dc4e4225881 39 * @param turnspeed The percentage with which to turn the robot.
pcordemans 6:0dc4e4225881 40 * Can range from -100 (full throttle left) to +100 (full throttle right).
dwini 2:356bb8d99326 41 */
dwini 0:c0ae66a0ec7a 42 void turn(int turnspeed);
dwini 0:c0ae66a0ec7a 43
pcordemans 6:0dc4e4225881 44 /**
dwini 2:356bb8d99326 45 * Stop the robot.
dwini 2:356bb8d99326 46 */
dwini 2:356bb8d99326 47 void stop(void);
dwini 0:c0ae66a0ec7a 48
pcordemans 6:0dc4e4225881 49 /**
dwini 2:356bb8d99326 50 * Calibrate the line follow sensors.
pcordemans 7:a72215b1910b 51 * Take note that the robot should be placed over the line
dwini 2:356bb8d99326 52 * before this function is called and that it will rotate to
dwini 2:356bb8d99326 53 * both sides.
dwini 2:356bb8d99326 54 */
dwini 2:356bb8d99326 55 void sensor_calibrate(void);
dwini 0:c0ae66a0ec7a 56
pcordemans 6:0dc4e4225881 57 /**
dwini 2:356bb8d99326 58 * Read the value from the line sensor. The returned value indicates the
dwini 2:356bb8d99326 59 * position of the line. The value ranges from -100 to +100 where -100 is
dwini 2:356bb8d99326 60 * fully left, +100 is fully right and 0 means the line is detected in the middle.
dwini 2:356bb8d99326 61 *
dwini 2:356bb8d99326 62 * @return The position of the line with a range of -100 to +100.
dwini 2:356bb8d99326 63 */
dwini 2:356bb8d99326 64 int line_sensor(void);
dwini 0:c0ae66a0ec7a 65
pcordemans 6:0dc4e4225881 66 /**
dwini 2:356bb8d99326 67 * Initialize the PID drive control with
pcordemans 6:0dc4e4225881 68 * the P, I and D factors.
dwini 2:356bb8d99326 69 *
pcordemans 6:0dc4e4225881 70 * @param p The P factor
pcordemans 6:0dc4e4225881 71 * @param i The I factor
pcordemans 6:0dc4e4225881 72 * @param d The D factor
dwini 2:356bb8d99326 73 */
dwini 0:c0ae66a0ec7a 74 void pid_init(int p, int i, int d);
dwini 0:c0ae66a0ec7a 75
pcordemans 6:0dc4e4225881 76 /**
pcordemans 7:a72215b1910b 77 * Determine PID turnspeed with which the robot should
dwini 2:356bb8d99326 78 * turn to follow the line at the given position.
dwini 2:356bb8d99326 79 *
pcordemans 6:0dc4e4225881 80 * @param line_position The position of the line in a range of [-100, +100]
dwini 2:356bb8d99326 81 *
pcordemans 6:0dc4e4225881 82 * @return The turnspeed in a range of [-100, +100]
dwini 2:356bb8d99326 83 */
dwini 0:c0ae66a0ec7a 84 int pid_turn(int line_position);
dwini 0:c0ae66a0ec7a 85
pcordemans 6:0dc4e4225881 86 /**
pcordemans 6:0dc4e4225881 87 *Show speed, turn and sensor data on the LCD
pcordemans 6:0dc4e4225881 88 */
dwini 2:356bb8d99326 89 void show_stats();
dwini 0:c0ae66a0ec7a 90
pcordemans 6:0dc4e4225881 91 /**
pcordemans 6:0dc4e4225881 92 * Shows the name of the robot on the display.
pcordemans 6:0dc4e4225881 93 *
pcordemans 6:0dc4e4225881 94 * @param name C character string (null-terminated) with the name of the robot (max 8 chars)
pcordemans 6:0dc4e4225881 95 */
dwini 2:356bb8d99326 96 void show_name(char * name);
dwini 2:356bb8d99326 97
dwini 0:c0ae66a0ec7a 98
pcordemans 6:0dc4e4225881 99 /**
pcordemans 6:0dc4e4225881 100 * Turn on, off or toggle a specific LED
pcordemans 6:0dc4e4225881 101 * @param i the LED number LED_0 .. LED_7
pcordemans 6:0dc4e4225881 102 * @param state the LED state LED_ON, LED_OFF, LED_TOGGLE
pcordemans 7:a72215b1910b 103 * @example led(LED_0, LED_ON); turns LED 0 on.
pcordemans 6:0dc4e4225881 104 */
dwini 2:356bb8d99326 105 void led(LedIndex i, LedState state);
dwini 0:c0ae66a0ec7a 106
pcordemans 6:0dc4e4225881 107 /**
pcordemans 6:0dc4e4225881 108 * Wait for an approximate number of milliseconds.
pcordemans 6:0dc4e4225881 109 *
pcordemans 6:0dc4e4225881 110 * @param milliseconds The number of milliseconds to wait.
pcordemans 6:0dc4e4225881 111 */
dwini 0:c0ae66a0ec7a 112 void await(int milliseconds);
dwini 0:c0ae66a0ec7a 113
sillevl 8:597ce8a7d34b 114 /**
sillevl 9:0385d1bfc38b 115 * If using Xbee to start/stop the robot, you can set a unique code to prevent starting or stopping other robots.
sillevl 9:0385d1bfc38b 116 * To start or stop the robot, send the a json string only containing a "start" or "stop" key with the code as a value.
sillevl 9:0385d1bfc38b 117 * eg: {"start": 1234} will start the robot with code set to 1234, {"stop": 9876} will stop the robot with code 9876.
sillevl 8:597ce8a7d34b 118 *
sillevl 8:597ce8a7d34b 119 * @param code A number between 0 and 1000.
sillevl 8:597ce8a7d34b 120 */
sillevl 8:597ce8a7d34b 121 void setCode(int code);
sillevl 8:597ce8a7d34b 122
sillevl 8:597ce8a7d34b 123 /**
sillevl 8:597ce8a7d34b 124 * Use this method if you need to know if something (eg: Xbee) is preventing the robot from driving
sillevl 8:597ce8a7d34b 125 *
sillevl 8:597ce8a7d34b 126 * @return Boolean true if the robot can drive, false if the robot cannot drive
sillevl 8:597ce8a7d34b 127 */
sillevl 8:597ce8a7d34b 128 int canDrive();
sillevl 8:597ce8a7d34b 129
dwini 0:c0ae66a0ec7a 130 #endif