Thassyo Pinto / m3pi

Modified library for the m3pi robot with individual calibrated sensor measurement functionality. This works with a Pololu 3pi robot with the Serial Slave firmware.

Fork of m3pi by Chris Styles

Files at this revision

API Documentation at this revision

Revision 9:d9682f35e58a, committed 2018-10-02

Comitter:
thassyo
Date:
Tue Oct 02 16:35:36 2018 +0000
Parent:
8:4b7d6ea9b35b
Commit message:
added send calibrated sensor values function

Changed in this revision

m3pi.cpp Show annotated file Show diff for this revision Revisions of this file
m3pi.h Show annotated file Show diff for this revision Revisions of this file 
--- a/m3pi.cpp	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.cpp	Tue Oct 02 16:35:36 2018 +0000
@@ -102,6 +102,17 @@
     return(v);
 }
 
+int * m3pi::calibrated_sensors() {
+    int i;
+    static int sensors[5];
+    _ser.putc(SEND_CALIBRATED_SENSOR_VALUES);
+    for(i=0;i<5;i++){
+        sensors[i] = _ser.getc();
+        sensors[i] += _ser.getc() << 8;
+    }
+    return(sensors);
+}
+
 float m3pi::line_position() {
     int pos = 0;
     _ser.putc(SEND_LINE_POSITION);

--- a/m3pi.h	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.h	Tue Oct 02 16:35:36 2018 +0000
@@ -32,6 +32,7 @@
 
 #define SEND_SIGNATURE 0x81
 #define SEND_RAW_SENSOR_VALUES 0x86
+#define SEND_CALIBRATED_SENSOR_VALUES 0x87
 #define SEND_TRIMPOT 0xB0
 #define SEND_BATTERY_MILLIVOLTS 0xB1
 #define DO_PLAY 0xB3
@@ -155,6 +156,8 @@
      * @returns battery voltage as a float
      */
     float battery(void);
+    
+    int * calibrated_sensors(void);
 
     /** Read the position of the detected line
      * @returns position as A normalised number -1.0 - 1.0 represents the full range.