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
m3pi.cpp
00001 /* m3pi Library 00002 * 00003 * Copyright (c) 2007-2010 cstyles 00004 * 00005 * Permission is hereby granted, free of charge, to any person obtaining a copy 00006 * of this software and associated documentation files (the "Software"), to deal 00007 * in the Software without restriction, including without limitation the rights 00008 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00009 * copies of the Software, and to permit persons to whom the Software is 00010 * furnished to do so, subject to the following conditions: 00011 * 00012 * The above copyright notice and this permission notice shall be included in 00013 * all copies or substantial portions of the Software. 00014 * 00015 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00016 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00017 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00018 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00019 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00020 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00021 * THE SOFTWARE. 00022 */ 00023 00024 #include "mbed.h" 00025 #include "m3pi.h" 00026 00027 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) { 00028 _ser.baud(115200); 00029 reset(); 00030 } 00031 00032 m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) { 00033 _ser.baud(115200); 00034 reset(); 00035 } 00036 00037 00038 void m3pi::reset () { 00039 _nrst = 0; 00040 wait (0.01); 00041 _nrst = 1; 00042 wait (0.1); 00043 } 00044 00045 void m3pi::left_motor (float speed) { 00046 motor(0,speed); 00047 } 00048 00049 void m3pi::right_motor (float speed) { 00050 motor(1,speed); 00051 } 00052 00053 void m3pi::forward (float speed) { 00054 motor(0,speed); 00055 motor(1,speed); 00056 } 00057 00058 void m3pi::backward (float speed) { 00059 motor(0,-1.0*speed); 00060 motor(1,-1.0*speed); 00061 } 00062 00063 void m3pi::left (float speed) { 00064 motor(0,speed); 00065 motor(1,-1.0*speed); 00066 } 00067 00068 void m3pi::right (float speed) { 00069 motor(0,-1.0*speed); 00070 motor(1,speed); 00071 } 00072 00073 void m3pi::stop (void) { 00074 motor(0,0.0); 00075 motor(1,0.0); 00076 } 00077 00078 void m3pi::motor (int motor, float speed) { 00079 char opcode = 0x0; 00080 if (speed > 0.0) { 00081 if (motor==1) 00082 opcode = M1_FORWARD; 00083 else 00084 opcode = M2_FORWARD; 00085 } else { 00086 if (motor==1) 00087 opcode = M1_BACKWARD; 00088 else 00089 opcode = M2_BACKWARD; 00090 } 00091 unsigned char arg = 0x7f * abs(speed); 00092 00093 _ser.putc(opcode); 00094 _ser.putc(arg); 00095 } 00096 00097 float m3pi::battery() { 00098 _ser.putc(SEND_BATTERY_MILLIVOLTS); 00099 char lowbyte = _ser.getc(); 00100 char hibyte = _ser.getc(); 00101 float v = ((lowbyte + (hibyte << 8))/1000.0); 00102 return(v); 00103 } 00104 00105 int * m3pi::calibrated_sensors() { 00106 int i; 00107 static int sensors[5]; 00108 _ser.putc(SEND_CALIBRATED_SENSOR_VALUES); 00109 for(i=0;i<5;i++){ 00110 sensors[i] = _ser.getc(); 00111 sensors[i] += _ser.getc() << 8; 00112 } 00113 return(sensors); 00114 } 00115 00116 float m3pi::line_position() { 00117 int pos = 0; 00118 _ser.putc(SEND_LINE_POSITION); 00119 pos = _ser.getc(); 00120 pos += _ser.getc() << 8; 00121 00122 float fpos = ((float)pos - 2048.0)/2048.0; 00123 return(fpos); 00124 } 00125 00126 char m3pi::sensor_auto_calibrate() { 00127 _ser.putc(AUTO_CALIBRATE); 00128 return(_ser.getc()); 00129 } 00130 00131 00132 void m3pi::calibrate(void) { 00133 _ser.putc(PI_CALIBRATE); 00134 } 00135 00136 void m3pi::reset_calibration() { 00137 _ser.putc(LINE_SENSORS_RESET_CALIBRATION); 00138 } 00139 00140 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) { 00141 _ser.putc(max_speed); 00142 _ser.putc(a); 00143 _ser.putc(b); 00144 _ser.putc(c); 00145 _ser.putc(d); 00146 } 00147 00148 void m3pi::PID_stop() { 00149 _ser.putc(STOP_PID); 00150 } 00151 00152 float m3pi::pot_voltage(void) { 00153 int volt = 0; 00154 _ser.putc(SEND_TRIMPOT); 00155 volt = _ser.getc(); 00156 volt += _ser.getc() << 8; 00157 return(volt); 00158 } 00159 00160 00161 void m3pi::leds(int val) { 00162 00163 BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13); 00164 _leds = val; 00165 } 00166 00167 00168 void m3pi::locate(int x, int y) { 00169 _ser.putc(DO_LCD_GOTO_XY); 00170 _ser.putc(x); 00171 _ser.putc(y); 00172 } 00173 00174 void m3pi::cls(void) { 00175 _ser.putc(DO_CLEAR); 00176 } 00177 00178 int m3pi::print (char* text, int length) { 00179 _ser.putc(DO_PRINT); 00180 _ser.putc(length); 00181 for (int i = 0 ; i < length ; i++) { 00182 _ser.putc(text[i]); 00183 } 00184 return(0); 00185 } 00186 00187 int m3pi::_putc (int c) { 00188 _ser.putc(DO_PRINT); 00189 _ser.putc(0x1); 00190 _ser.putc(c); 00191 wait (0.001); 00192 return(c); 00193 } 00194 00195 int m3pi::_getc (void) { 00196 char r = 0; 00197 return(r); 00198 } 00199 00200 int m3pi::putc (int c) { 00201 return(_ser.putc(c)); 00202 } 00203 00204 int m3pi::getc (void) { 00205 return(_ser.getc()); 00206 } 00207 00208 00209 00210 00211 00212 #ifdef MBED_RPC 00213 const rpc_method *m3pi::get_rpc_methods() { 00214 static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> }, 00215 { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> }, 00216 { "left", rpc_method_caller<m3pi, float, &m3pi::left> }, 00217 { "right", rpc_method_caller<m3pi, float, &m3pi::right> }, 00218 { "stop", rpc_method_caller<m3pi, &m3pi::stop> }, 00219 { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> }, 00220 { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> }, 00221 { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> }, 00222 { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> }, 00223 { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> }, 00224 00225 00226 RPC_METHOD_SUPER(Base) 00227 }; 00228 return rpc_methods; 00229 } 00230 #endif
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