stephen smitherman / Mbed 2 deprecated m3pi_BlueUSB_PS3

A compilation of code from different sources to provide support for a Playstation 3 controller via bluetooth on the m3pi.

Dependencies:   TextLCD mbed

Fork of mbed_TANK_PS3 by Yasuhiko YAMAMOTO

m3pi.cpp@2:895f70862eb9, 2013-01-01 (annotated)

Committer:
srsmitherman
Date:
Tue Jan 01 02:10:08 2013 +0000
Revision:
2:895f70862eb9
Parent:
1:ae49669c5e92 
M3pi support

Who changed what in which revision?

UserRevisionLine numberNew contents of line
srsmitherman 1:ae49669c5e92 1 /* m3pi Library
srsmitherman 1:ae49669c5e92 2 *
srsmitherman 1:ae49669c5e92 3 * Copyright (c) 2007-2010 cstyles
srsmitherman 1:ae49669c5e92 4 *
srsmitherman 1:ae49669c5e92 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
srsmitherman 1:ae49669c5e92 6 * of this software and associated documentation files (the "Software"), to deal
srsmitherman 1:ae49669c5e92 7 * in the Software without restriction, including without limitation the rights
srsmitherman 1:ae49669c5e92 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
srsmitherman 1:ae49669c5e92 9 * copies of the Software, and to permit persons to whom the Software is
srsmitherman 1:ae49669c5e92 10 * furnished to do so, subject to the following conditions:
srsmitherman 1:ae49669c5e92 11 *
srsmitherman 1:ae49669c5e92 12 * The above copyright notice and this permission notice shall be included in
srsmitherman 1:ae49669c5e92 13 * all copies or substantial portions of the Software.
srsmitherman 1:ae49669c5e92 14 *
srsmitherman 1:ae49669c5e92 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
srsmitherman 1:ae49669c5e92 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
srsmitherman 1:ae49669c5e92 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
srsmitherman 1:ae49669c5e92 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
srsmitherman 1:ae49669c5e92 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
srsmitherman 1:ae49669c5e92 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
srsmitherman 1:ae49669c5e92 21 * THE SOFTWARE.
srsmitherman 1:ae49669c5e92 22 */
srsmitherman 1:ae49669c5e92 23
srsmitherman 1:ae49669c5e92 24 #include "mbed.h"
srsmitherman 1:ae49669c5e92 25 #include "m3pi.h"
srsmitherman 1:ae49669c5e92 26
srsmitherman 1:ae49669c5e92 27 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) {
srsmitherman 1:ae49669c5e92 28 _ser.baud(115200);
srsmitherman 1:ae49669c5e92 29 reset();
srsmitherman 1:ae49669c5e92 30 }
srsmitherman 1:ae49669c5e92 31
srsmitherman 1:ae49669c5e92 32 m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) {
srsmitherman 1:ae49669c5e92 33 _ser.baud(115200);
srsmitherman 1:ae49669c5e92 34 reset();
srsmitherman 1:ae49669c5e92 35 }
srsmitherman 1:ae49669c5e92 36
srsmitherman 1:ae49669c5e92 37
srsmitherman 1:ae49669c5e92 38 void m3pi::reset () {
srsmitherman 1:ae49669c5e92 39 _nrst = 0;
srsmitherman 1:ae49669c5e92 40 wait (0.01);
srsmitherman 1:ae49669c5e92 41 _nrst = 1;
srsmitherman 1:ae49669c5e92 42 wait (0.1);
srsmitherman 1:ae49669c5e92 43 }
srsmitherman 1:ae49669c5e92 44
srsmitherman 1:ae49669c5e92 45 void m3pi::left_motor (float speed) {
srsmitherman 1:ae49669c5e92 46 motor(0,speed);
srsmitherman 1:ae49669c5e92 47 }
srsmitherman 1:ae49669c5e92 48
srsmitherman 1:ae49669c5e92 49 void m3pi::right_motor (float speed) {
srsmitherman 1:ae49669c5e92 50 motor(1,speed);
srsmitherman 1:ae49669c5e92 51 }
srsmitherman 1:ae49669c5e92 52
srsmitherman 1:ae49669c5e92 53 void m3pi::forward (float speed) {
srsmitherman 1:ae49669c5e92 54 motor(0,speed);
srsmitherman 1:ae49669c5e92 55 motor(1,speed);
srsmitherman 1:ae49669c5e92 56 }
srsmitherman 1:ae49669c5e92 57
srsmitherman 1:ae49669c5e92 58 void m3pi::backward (float speed) {
srsmitherman 1:ae49669c5e92 59 motor(0,-1.0*speed);
srsmitherman 1:ae49669c5e92 60 motor(1,-1.0*speed);
srsmitherman 1:ae49669c5e92 61 }
srsmitherman 1:ae49669c5e92 62
srsmitherman 1:ae49669c5e92 63 void m3pi::left (float speed) {
srsmitherman 1:ae49669c5e92 64 motor(0,speed);
srsmitherman 1:ae49669c5e92 65 motor(1,-1.0*speed);
srsmitherman 1:ae49669c5e92 66 }
srsmitherman 1:ae49669c5e92 67
srsmitherman 1:ae49669c5e92 68 void m3pi::right (float speed) {
srsmitherman 1:ae49669c5e92 69 motor(0,-1.0*speed);
srsmitherman 1:ae49669c5e92 70 motor(1,speed);
srsmitherman 1:ae49669c5e92 71 }
srsmitherman 1:ae49669c5e92 72
srsmitherman 1:ae49669c5e92 73 void m3pi::stop (void) {
srsmitherman 1:ae49669c5e92 74 motor(0,0.0);
srsmitherman 1:ae49669c5e92 75 motor(1,0.0);
srsmitherman 1:ae49669c5e92 76 }
srsmitherman 1:ae49669c5e92 77
srsmitherman 1:ae49669c5e92 78 void m3pi::motor (int motor, float speed) {
srsmitherman 1:ae49669c5e92 79 char opcode = 0x0;
srsmitherman 1:ae49669c5e92 80 if (speed > 0.0) {
srsmitherman 1:ae49669c5e92 81 if (motor==1)
srsmitherman 1:ae49669c5e92 82 opcode = M1_FORWARD;
srsmitherman 1:ae49669c5e92 83 else
srsmitherman 1:ae49669c5e92 84 opcode = M2_FORWARD;
srsmitherman 1:ae49669c5e92 85 } else {
srsmitherman 1:ae49669c5e92 86 if (motor==1)
srsmitherman 1:ae49669c5e92 87 opcode = M1_BACKWARD;
srsmitherman 1:ae49669c5e92 88 else
srsmitherman 1:ae49669c5e92 89 opcode = M2_BACKWARD;
srsmitherman 1:ae49669c5e92 90 }
srsmitherman 1:ae49669c5e92 91 unsigned char arg = 0x7f * abs(speed);
srsmitherman 1:ae49669c5e92 92
srsmitherman 1:ae49669c5e92 93 _ser.putc(opcode);
srsmitherman 1:ae49669c5e92 94 _ser.putc(arg);
srsmitherman 1:ae49669c5e92 95 }
srsmitherman 1:ae49669c5e92 96
srsmitherman 1:ae49669c5e92 97 float m3pi::battery() {
srsmitherman 1:ae49669c5e92 98 _ser.putc(SEND_BATTERY_MILLIVOLTS);
srsmitherman 1:ae49669c5e92 99 char lowbyte = _ser.getc();
srsmitherman 1:ae49669c5e92 100 char hibyte = _ser.getc();
srsmitherman 1:ae49669c5e92 101 float v = ((lowbyte + (hibyte << 8))/1000.0);
srsmitherman 1:ae49669c5e92 102 return(v);
srsmitherman 1:ae49669c5e92 103 }
srsmitherman 1:ae49669c5e92 104
srsmitherman 1:ae49669c5e92 105 float m3pi::line_position() {
srsmitherman 1:ae49669c5e92 106 int pos = 0;
srsmitherman 1:ae49669c5e92 107 _ser.putc(SEND_LINE_POSITION);
srsmitherman 1:ae49669c5e92 108 pos = _ser.getc();
srsmitherman 1:ae49669c5e92 109 pos += _ser.getc() << 8;
srsmitherman 1:ae49669c5e92 110
srsmitherman 1:ae49669c5e92 111 float fpos = ((float)pos - 2048.0)/2048.0;
srsmitherman 1:ae49669c5e92 112 return(fpos);
srsmitherman 1:ae49669c5e92 113 }
srsmitherman 1:ae49669c5e92 114
srsmitherman 1:ae49669c5e92 115 char m3pi::sensor_auto_calibrate() {
srsmitherman 1:ae49669c5e92 116 _ser.putc(AUTO_CALIBRATE);
srsmitherman 1:ae49669c5e92 117 return(_ser.getc());
srsmitherman 1:ae49669c5e92 118 }
srsmitherman 1:ae49669c5e92 119
srsmitherman 1:ae49669c5e92 120
srsmitherman 1:ae49669c5e92 121 void m3pi::calibrate(void) {
srsmitherman 1:ae49669c5e92 122 _ser.putc(PI_CALIBRATE);
srsmitherman 1:ae49669c5e92 123 }
srsmitherman 1:ae49669c5e92 124
srsmitherman 1:ae49669c5e92 125 void m3pi::reset_calibration() {
srsmitherman 1:ae49669c5e92 126 _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
srsmitherman 1:ae49669c5e92 127 }
srsmitherman 1:ae49669c5e92 128
srsmitherman 1:ae49669c5e92 129 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
srsmitherman 1:ae49669c5e92 130 _ser.putc(SET_PID);
srsmitherman 1:ae49669c5e92 131 _ser.putc(max_speed);
srsmitherman 1:ae49669c5e92 132 _ser.putc(a);
srsmitherman 1:ae49669c5e92 133 _ser.putc(b);
srsmitherman 1:ae49669c5e92 134 _ser.putc(c);
srsmitherman 1:ae49669c5e92 135 _ser.putc(d);
srsmitherman 1:ae49669c5e92 136 }
srsmitherman 1:ae49669c5e92 137
srsmitherman 1:ae49669c5e92 138 void m3pi::PID_stop() {
srsmitherman 1:ae49669c5e92 139 _ser.putc(STOP_PID);
srsmitherman 1:ae49669c5e92 140 }
srsmitherman 1:ae49669c5e92 141
srsmitherman 1:ae49669c5e92 142 float m3pi::pot_voltage(void) {
srsmitherman 1:ae49669c5e92 143 int volt = 0;
srsmitherman 1:ae49669c5e92 144 _ser.putc(SEND_TRIMPOT);
srsmitherman 1:ae49669c5e92 145 volt = _ser.getc();
srsmitherman 1:ae49669c5e92 146 volt += _ser.getc() << 8;
srsmitherman 1:ae49669c5e92 147 return(volt);
srsmitherman 1:ae49669c5e92 148 }
srsmitherman 1:ae49669c5e92 149
srsmitherman 1:ae49669c5e92 150
srsmitherman 1:ae49669c5e92 151 void m3pi::leds(int val) {
srsmitherman 1:ae49669c5e92 152
srsmitherman 1:ae49669c5e92 153 BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
srsmitherman 1:ae49669c5e92 154 _leds = val;
srsmitherman 1:ae49669c5e92 155 }
srsmitherman 1:ae49669c5e92 156
srsmitherman 1:ae49669c5e92 157
srsmitherman 1:ae49669c5e92 158 void m3pi::locate(int x, int y) {
srsmitherman 1:ae49669c5e92 159 _ser.putc(DO_LCD_GOTO_XY);
srsmitherman 1:ae49669c5e92 160 _ser.putc(x);
srsmitherman 1:ae49669c5e92 161 _ser.putc(y);
srsmitherman 1:ae49669c5e92 162 }
srsmitherman 1:ae49669c5e92 163
srsmitherman 1:ae49669c5e92 164 void m3pi::cls(void) {
srsmitherman 1:ae49669c5e92 165 _ser.putc(DO_CLEAR);
srsmitherman 1:ae49669c5e92 166 }
srsmitherman 1:ae49669c5e92 167
srsmitherman 1:ae49669c5e92 168 int m3pi::print (char* text, int length) {
srsmitherman 1:ae49669c5e92 169 _ser.putc(DO_PRINT);
srsmitherman 1:ae49669c5e92 170 _ser.putc(length);
srsmitherman 1:ae49669c5e92 171 for (int i = 0 ; i < length ; i++) {
srsmitherman 1:ae49669c5e92 172 _ser.putc(text[i]);
srsmitherman 1:ae49669c5e92 173 }
srsmitherman 1:ae49669c5e92 174 return(0);
srsmitherman 1:ae49669c5e92 175 }
srsmitherman 1:ae49669c5e92 176
srsmitherman 1:ae49669c5e92 177 void m3pi::play (char* music, int length) {
srsmitherman 1:ae49669c5e92 178 // The default 3pi serial slave program
srsmitherman 1:ae49669c5e92 179 // will not accept music strings longer than 100.
srsmitherman 1:ae49669c5e92 180 if (length > 100)
srsmitherman 1:ae49669c5e92 181 length = 100;
srsmitherman 1:ae49669c5e92 182 _ser.putc(DO_PLAY);
srsmitherman 1:ae49669c5e92 183 _ser.putc(length);
srsmitherman 1:ae49669c5e92 184 for (int i = 0 ; i < length ; i++) {
srsmitherman 1:ae49669c5e92 185 _ser.putc(music[i]);
srsmitherman 1:ae49669c5e92 186 }
srsmitherman 1:ae49669c5e92 187 }
srsmitherman 1:ae49669c5e92 188
srsmitherman 1:ae49669c5e92 189 int m3pi::_putc (int c) {
srsmitherman 1:ae49669c5e92 190 _ser.putc(DO_PRINT);
srsmitherman 1:ae49669c5e92 191 _ser.putc(0x1);
srsmitherman 1:ae49669c5e92 192 _ser.putc(c);
srsmitherman 1:ae49669c5e92 193 wait (0.001);
srsmitherman 1:ae49669c5e92 194 return(c);
srsmitherman 1:ae49669c5e92 195 }
srsmitherman 1:ae49669c5e92 196
srsmitherman 1:ae49669c5e92 197 int m3pi::_getc (void) {
srsmitherman 1:ae49669c5e92 198 char r = 0;
srsmitherman 1:ae49669c5e92 199 return(r);
srsmitherman 1:ae49669c5e92 200 }
srsmitherman 1:ae49669c5e92 201
srsmitherman 1:ae49669c5e92 202 int m3pi::putc (int c) {
srsmitherman 1:ae49669c5e92 203 return(_ser.putc(c));
srsmitherman 1:ae49669c5e92 204 }
srsmitherman 1:ae49669c5e92 205
srsmitherman 1:ae49669c5e92 206 int m3pi::getc (void) {
srsmitherman 1:ae49669c5e92 207 return(_ser.getc());
srsmitherman 1:ae49669c5e92 208 }
srsmitherman 1:ae49669c5e92 209
srsmitherman 1:ae49669c5e92 210
srsmitherman 1:ae49669c5e92 211
srsmitherman 1:ae49669c5e92 212
srsmitherman 1:ae49669c5e92 213 #ifdef MBED_RPC
srsmitherman 1:ae49669c5e92 214 const rpc_method *m3pi::get_rpc_methods() {
srsmitherman 1:ae49669c5e92 215 static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
srsmitherman 1:ae49669c5e92 216 { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
srsmitherman 1:ae49669c5e92 217 { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
srsmitherman 1:ae49669c5e92 218 { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
srsmitherman 1:ae49669c5e92 219 { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
srsmitherman 1:ae49669c5e92 220 { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
srsmitherman 1:ae49669c5e92 221 { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
srsmitherman 1:ae49669c5e92 222 { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
srsmitherman 1:ae49669c5e92 223 { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
srsmitherman 1:ae49669c5e92 224 { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
srsmitherman 1:ae49669c5e92 225
srsmitherman 1:ae49669c5e92 226
srsmitherman 1:ae49669c5e92 227 RPC_METHOD_SUPER(Base)
srsmitherman 1:ae49669c5e92 228 };
srsmitherman 1:ae49669c5e92 229 return rpc_methods;
srsmitherman 1:ae49669c5e92 230 }
srsmitherman 1:ae49669c5e92 231 #endif